Autonomous Humanoid Loco-Manipulation for Tote Logistics

CMU MRSD Capstone Project, sponsored by Nissan and Field AI
Advised by Prof. Guanya Shi
View the project webpage here: project webpage

Developed the autonomy stack, specifically the perception for 6D pose estimation (NVIDIA FoundationPose) with motion-capture localization for precise perception and navigation. Combined the high-level planner with perception and humanoid control, trained in simulation with reinforcement learning.