T-Rex / Sticks: Visuotactile Policy Adaptation

Ongoing research

Building on the open-source T-Rex framework, this project studies how visual and tactile information can support contact-rich manipulation on a Piper robot platform.

Current work concerns robot integration, policy adaptation with reinforcement learning, continuous action execution, and the connection between executed actions and recorded interaction data.

This research line includes the Sticks insertion task. Further materials will be linked when they are released.