Reference generator 1 (Tusk, trajectory...)

Reference generator 2 (...)

Reference generator 3 (Policy...)

Signal processing 1 - filter - transformation - estimator

Signal processing 2 - filter - transform

Control policy 1

Tracking Ctrl 1 (Impedance, admittance)

Tracking Ctrl 2

Control Policy 2

Track. Ctrl 2

Track. Ctrl 3

robot state

sensor 1 (FT)

sensor 2 (Tactile)

sensor 3 (vision/depth)

Actions → Commands

Robot interface

Digital Twin / Sim