4 papers
Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation
Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1
Forceful manipulation is challenging for humanoid robots because interaction forces can disturb whole-body balance. We introduce the Supporting Hand Strategy (SHS), which enables a…
Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast,…
QueryAdapter: Rapid Adaptation of Vision-Language Models in Response to Natural Language Queries
Nicolas Harvey Chapman, Feras Dayoub, Will Browne +1
A domain shift exists between the large-scale, internet data used to train a Vision-Language Model (VLM) and the raw image streams collected by a robot. Existing adaptation strateg…
Enhancing Embodied Object Detection through Language-Image Pre-training and Implicit Object Memory
Nicolas Harvey Chapman, Feras Dayoub, Will Browne +1
Deep-learning and large scale language-image training have produced image object detectors that generalise well to diverse environments and semantic classes. However, single-image…