This project focused on developing an autonomy and computer vision platform for the Gather robotic system, a small robotic platform designed for material handling and transportation. As the lead software developer, I was responsible for designing and integrating embedded systems, building sensor fusion capabilities, and implementing advanced autonomy features. A key aspect of this project was the development and deployment of custom AI/ML models for object detection using YOLO, tailored specifically for the operational environment. These models enabled accurate detection of trunks, vines, people, and other relevant objects, enhancing the robot's autonomous navigation and task execution capabilities. The result was a robust and scalable robotic system tailored for environment-specific tasks.