1 citations · 1 across the 6 of their papers we have counts for
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OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics
Humphrey Munn
Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is…
RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment
Humphrey Munn, Brendan Tidd, Peter Bohm +2
Deploying learned control policies is risky because policies that appear robust in simulation can confidently enter out-of-distribution (OOD) states after Sim-to-Real transfer, cau…
Scalable Multi-Objective Robot Reinforcement Learning through Gradient Conflict Resolution
Humphrey Munn, Brendan Tidd, Peter Böhm +2
Reinforcement Learning (RL) robot controllers usually aggregate many task objectives into one scalar reward. While large-scale proximal policy optimisation (PPO) has enabled impres…
Whole-Body Dynamic Throwing with Legged Manipulators
Humphrey Munn, Brendan Tidd, Peter Böhm +2
Throwing with a legged robot involves precise coordination of object manipulation and locomotion - crucial for advanced real-world interactions. Most research focuses on either man…