Detailed Project Management:

• Schedule & Plans
• Risk Management

Work Breaddown Structure:

Spring Performance Results:

• Button Detection:
  • Requirement: SR > 33%.
  • Achieved: 90% (18/20) for both in and out the elevator.
• Press Elevator Button:
  • Requirement: SR > 33%.
  • Achieved: 85% (17/20) for raised button. 50% (5/10) for inset button.
• Visual Servo Base:
  • Requirement: SR > 33%.
  • Achieved: Detection: 82% (36/44), Servoing: >95% (19/20), Combined 78%
• Door State Detection:
  • Requirement: SR > 33%.
  • Achieved: ~100% (3/3), generalized to different elevators
• Enter Elevator:
  • Requirement: SR > 33%.
  • Achieved: ~100% (20/20)
• Elevator Floor Detection:
  • Requirement: SR > 33%.
  • Achieved: ~80% (4 out of 5 elevators, 100% on the 4 elevators)
• Exit Elevator:
  • Requirement: SR > 33%.
  • Achieved: ~100% (6/6)

Part List:

• Track of Hardware

Design Brain-Storming:

• Each module outputs a confidence score, and the behavior tree decides whether to execute, retry, change viewpoint, or switch to a fallback route.
• Store doors, elevators, stairs, and buttons as semantic landmarks with preferred approach poses, viewpoints, and interaction poses.
• Use high-level symbolic planning for route/task sequencing, but use local reactive controllers for fragile interactions like door opening and button pressing.
• Start with VLM-based object localization, then switch to lightweight tracking or geometric priors during execution to reduce latency and improve robustness.
• Design every major skill with explicit failure modes, timeout logic, retry limits, and user-facing explanations.
• First validate isolated artifact skills, then short skill chains, and only finally the full multi-floor mission.