Autonomous Humanoid Loco-Manipulation for Tote Logistics
CMU MRSD Capstone Project (Spring 2025), sponsored by Nissan and Field AI
CMU MRSD Capstone Project (Spring 2025), sponsored by Nissan and Field AI
Advised by Prof. Guanya Shi
View the project website
Skills
Computer Vision, Reinforcement Learning and Control, Motion Planning, Systems Engineering (Finite State Machine)
Frameworks: Isaac Sim & Isaac Gym, PyTorch, MuJoCo, TensorRT, FastDDS
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 curriculum-based PPO.
Autonomous humanoid robot demonstrating tote loco-manipulation capabilities.