During this period, contributed to the ihmcrobotics/ihmc-open-robotics-software repository by enhancing object detection capabilities within the ihmc-perception module. The work centered on integrating new YOLO models, expanding the system’s computer vision coverage and supporting future model updates. Leveraging machine learning techniques, the enhancement included adding ONNX model assets and implementing a YAML-based mapping for class names, enabling more flexible and maintainable detection pipelines. The approach focused on modularity and ease of future extension, with all changes delivered through a single feature commit. No bug fixes were recorded, reflecting a targeted effort on feature development using YAML and ONNX technologies.