Active Observation and Visual Servoing IEEE CASE 2026 · Accepted. Active camera motion and relative visual servoing for grasping under occlusion. VR-Loop: Dual-Arm Rope Untangling Manuscript under review. Iterative visual verification and geometric constraints for reliable dual-arm manipulation. T-Rex / Sticks: Visuotactile Policy Adaptation Ongoing research. Robot and policy adaptation for contact-rich manipulation, building on the open-source T-Rex framework. HELIX: Failure Recovery and Experience Memory Ongoing simulation research. Value assessment, reflex feedback, and experience memory for robot failure recovery.