Project: Humanoid Navigation & Loco-Manipulation in Multi-Story
Human Spaces

• We aim to develop an autonomous integrated stack for multi-story indoor navigation and loco-manipulation. Given natural language prompt from human, the humanoid robot shoule be able to understand command and scene, navigate to the goal room in a multi-floor building either via stair or elevator, and open doors encountered along the way.

Fig 0 : System Paradigm. The system paradigm abstracts the whole system design with high-level input & output of each sub-system.

Fig 1 : Use case of the system. The robot traverse rooms, doors and elevators to find and reach the destination with simple prompt.

System Design & Architecture:

• System Requirements:

Fig 2 : System Performance Requirements. The system requirements are majorly based on success rate.

• Functional Architecture:

Fig 3 : Functional Architecture. The functional architecture demonstrates the logic of all functions of the system. The functions are structured with sensor data flow and information flow.

• Cyber-physical Architecture:

Fig 4 : Cyber-physical Architecture. Our cyberphysical architecture encapsulates all the deployment logic and structure. Our system is divided into to parts: Neural serve as the backbone of the system with integrated reasoning. Whenever needed, the neural calls functions represented as the Symbolic. Symbolic serve as low-level skill modules in charge of separate specific tasks, such as navigate, open a door or take elevator.

• Objectives:

Fig 5 : General Objective Tree. The overall division of all objectives of our project. Gree nodes represents threshold objectives, while red node are target objectives.

Fig 6 : Detailed Objective Tree. The detailed version objective tree with definition and explanation of each objective.