Lumi System Architecture: From Seeing Clutter to Storing It
A concise map of Lumi's V1 hardware, software, and autonomy stack for the long-term cleanup loop.
Build updates
Real prototype progress, one capability at a time.
Follow the mobile platform, manipulation research, and navigation foundation as Lumi moves toward practical indoor cleanup.
Planning the Cleanup Loop
Before Lumi can drive or grasp, it needs to decide what to clean, what is safe to attempt, where the object should go, and how to recover when the real world does not cooperate.
Preparing the Navigation Stack
Wheel encoders, IMU validation, robot frames, lidar, mapping, localization, and Nav2 are being assembled in deliberate stages before autonomous movement.
Teaching Lumi to Pick Up from the Floor
Teleoperation, structured demonstrations, ACT-style imitation learning, and safety-bounded pickup validation.