Since you got pregnant as a minor, it is exceedingly unlikely that a court will grant you emancipation since you clearly need greater supervision, not less. As such, you have to live where your parents say (or permit) until you are an adult at 18. When you are 18 you can take whatever mom and dad let you take with you and you can move in with your boyfriend ... assuming he is still waiting for you by then (statistics say not, but, you never know).
You are certainly free to grant custody of your baby to her father should you choose. But, then, YOU may not see your daughter all that often and if/when you two DO split, he'll likely have the upper hand being the custodial parent.
You made this bed, now you have to live in it.