{"id":93,"date":"2026-02-20T17:47:04","date_gmt":"2026-02-20T22:47:04","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/?page_id=93"},"modified":"2026-11-14T01:28:24","modified_gmt":"2026-11-14T06:28:24","slug":"system-implementation","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/","title":{"rendered":"System Implementation"},"content":{"rendered":"\n<p><strong>Detailed Design of Systems:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/system-implementation-pcb-implementation\/\" data-type=\"page\" data-id=\"145\"><strong>PCB Design<\/strong><\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/system-interface\/\" data-type=\"page\" data-id=\"160\"><strong>System Interface<\/strong><\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/perception-system\/\" data-type=\"page\" data-id=\"156\"><strong>Perception Sub-system<\/strong><\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/control-system\/\" data-type=\"page\" data-id=\"163\">Control Sub-system<\/a><\/strong><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/system-implementation\/navigation-sub-system\/\" data-type=\"page\" data-id=\"166\">Navigation Sub-system<\/a><\/strong><\/li>\n<\/ul>\n\n\n\n\n\n<h3 class=\"wp-block-heading\">Fall 2026: Full-System Integration<\/h3>\n\n\n\n<p>In the fall the team moved from individually validated skills to chaining them into a complete elevator mission. Semantic mapping was removed from scope after the team lost one member.<\/p>\n\n\n\n<p><strong>Simulation Testbed:<\/strong><\/p>\n\n\n\n<p>The RIC elevator was reconstructed from a phone video into a MuJoCo scene with a moving cabin, cabin controls and front\/rear 120\u00b0 FOV cameras. It is used to test rule-based and agentic skill chaining and recovery behavior before running on hardware.<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>Single-agent framework (Oct. 1 snapshot):<\/strong> 163 tests passed with 0 failures; the offline baseline completed the elevator trip in 55.9 s of simulated time with 11 decisions. Only 4 of 20 VLM cases were answered because of API rate limits, and in one case the VLM proposed entering the elevator with the door only 69% open, which is unsafe.<\/li>\n\n\n\n<li><strong>Rule-based baseline:<\/strong> Approach &amp; Call \u2192 Enter \u2192 Select floor \u2192 Ride \u2192 Check arrival \u2192 Exit.<\/li>\n\n\n\n<li><strong>Agentic chaining:<\/strong> skills aligned with the simulator (object tracking, navigation, arm control) plus new skills for state checks and recovery behavior. The first end-to-end rollout in simulation is complete; it has not yet been tested on the real robot.<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s17.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1500\" height=\"844\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s17.jpg\" alt=\"Task chaining in the reconstructed MuJoCo elevator testbed.\" class=\"wp-image-319\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s17.jpg 1500w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s17-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s17-768x432.jpg 768w\" sizes=\"auto, (max-width: 1500px) 100vw, 1500px\" \/><\/a><figcaption class=\"wp-element-caption\"><strong>Fig:<\/strong> Task chaining in the reconstructed MuJoCo elevator testbed.<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s17.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1500\" height=\"844\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s17.jpg\" alt=\"Agentic framework in simulation and an end-to-end task completion.\" class=\"wp-image-310\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s17.jpg 1500w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s17-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s17-768x432.jpg 768w\" sizes=\"auto, (max-width: 1500px) 100vw, 1500px\" \/><\/a><figcaption class=\"wp-element-caption\"><strong>Fig:<\/strong> Agentic framework in simulation and an end-to-end task completion.<\/figcaption><\/figure>\n\n\n\n<p><strong>Real-Robot Skill Chaining:<\/strong><\/p>\n\n\n\n<p>A hand-written baseline chain runs on the G1: go to the button panel \u2192 press the button \u2192 enter the elevator and go to the in-cabin button panel.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s11.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1500\" height=\"844\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s11.jpg\" alt=\"Hand-written baseline chain on the G1: go to the button panel, press, and enter the elevator.\" class=\"wp-image-309\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s11.jpg 1500w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s11-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-PR10-s11-768x432.jpg 768w\" sizes=\"auto, (max-width: 1500px) 100vw, 1500px\" \/><\/a><figcaption class=\"wp-element-caption\"><strong>Fig:<\/strong> Hand-written baseline chain on the G1: go to the button panel, press, and enter the elevator.<\/figcaption><\/figure>\n\n\n\n<p><strong>Fall Validation Demonstration Plan:<\/strong><\/p>\n\n\n\n<p>The FVD mission at RIC is fully automatic and long-horizon with basic failure recovery: navigate to the call panel \u2192 press the call button \u2192 enter the elevator \u2192 press the floor button \u2192 exit at the target floor.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s28.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1500\" height=\"844\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s28.jpg\" alt=\"Fall Validation Demonstration mission at RIC.\" class=\"wp-image-324\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s28.jpg 1500w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s28-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-content\/uploads\/sites\/92\/2026\/11\/vr-SDR-s28-768x432.jpg 768w\" sizes=\"auto, (max-width: 1500px) 100vw, 1500px\" \/><\/a><figcaption class=\"wp-element-caption\"><strong>Fig:<\/strong> Fall Validation Demonstration mission at RIC.<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><thead><tr><th>FVD measurement<\/th><th>Target<\/th><\/tr><\/thead><tbody><tr><td>Tracking rate<\/td><td>\u226515 FPS sustained<\/td><\/tr><tr><td>VLM response<\/td><td>\u22642 s per query<\/td><\/tr><tr><td>Button pose<\/td><td>\u22641 cm at 2 of 3 positions<\/td><\/tr><tr><td>Button presses<\/td><td>\u226580% outside \/ \u226570% inside<\/td><\/tr><tr><td>Door state<\/td><td>\u226595% of cycles<\/td><\/tr><tr><td>Moving floor detection<\/td><td>\u226590% of transitions<\/td><\/tr><tr><td>End-to-end mission<\/td><td>\u22651 of 3 trials<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>Next steps: fix the navigation local planner, improve the button-pressing success rate, test skill chaining and collect failure modes, and add failure-recovery logic to the behavior tree.<\/p>\n\n\n","protected":false},"excerpt":{"rendered":"<p>Detailed Design of Systems: Fall 2026: Full-System Integration In the fall the team moved from individually validated skills to chaining them into a complete elevator mission. Semantic mapping was removed from scope after the team lost one member. Simulation Testbed: The RIC elevator was reconstructed from a phone video into a MuJoCo scene with a [&hellip;]<\/p>\n","protected":false},"author":434,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-93","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/pages\/93","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/users\/434"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/comments?post=93"}],"version-history":[{"count":16,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/pages\/93\/revisions"}],"predecessor-version":[{"id":349,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/pages\/93\/revisions\/349"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teama\/wp-json\/wp\/v2\/media?parent=93"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}