Humanoid robot autonomous navigation and collision avoidance

Video shows our open-source autonomy stack deployed on the Unitree G1 humanoid robot for autonomous navigation. Challenges include high-speed walking, low obstacle avoidance, navigating cluttered and narrow spaces, and dynamic obstacle avoidance. Single perception sensor is the Mid-360 lidar that came with the G1. Navigation uses the built-in gait in "running - fast" and "running - slow" modes. Processing runs on a NUC computer attached to the back. The computer is powered by the G1's battery through a power regulator. Velocity commands are sent to the G1 through the Ethernet interface. Open-source autonomy stack: https://github.com/jizhang-cmu/autono... Online tutorial: https://tarerobotics.readthedocs.io Note: G1 hardware is provided by Field AI to support the CMU MRSD program.