Journey
A visual record of the project's progress so far — from the first cardboard chassis to multi-step navigation driven by natural language. Each milestone is a checkpoint where something meaningful clicked into place.
01
Hardware
Cardboard prototype
The first wheeled chassis — built out of cardboard around an early sensor suite. Validates the platform mechanically before committing to a permanent frame.
02
Perception
Digital twin simulation
A continuously updated 3D representation of the robot's pose and immediate environment, reconstructed from its depth camera and IMU in simulation. This is the foundation the rest of the stack reasons on top of.
03
Reasoning
Twin + vision-language reasoning
Layering a vision-language model on top of the digital twin so the robot can describe what it sees and reason about its surroundings in natural language.
04
Hardware
Chassis redesign & rebuild
Replacing the cardboard prototype with a more user-friendly, approachable chassis. Applies the chat pipeline from the cardboard version.
05
Dashboard
Live twin & navigation overlays
Live twin reflects the navigation state in real time. Applies the navigation stack from the digital twin simulation.
06
Navigation
Navigation: failure
The early end-to-end navigation runs: from chatting to navigation. Mostly useful for surfacing what was still broken. Wheels got stuck, camera connection unstable, slow model response times, etc.
07
Navigation
Navigation: point-to-point
A clean point-to-point navigation indoors based on natural-language instruction. The robot reaches a goal pose using its own map and avoids obstacles along the way.
08
Navigation
Navigation: multi-step tasks
Multi-step navigation tasks driven from natural-language instructions. The reasoning layer decomposes the request into navigation goals and dispatches them to the planner as a subagent.