A Robotic Interactive Installation

Le Fresnoy is France’s National Studio of Contemporary Arts and a postgraduate research center specializing in cinema and technology arts, hosting the annual Panorama exhibition which attracts over 10k+ visitors as a real-world testbed for Human-Robot Interaction (HRI) interactive systems. I Led the integration of a 6-DoF robotic arm into a high-traffic, unstructured real-world exhibition environment, prioritizing system uptime and Human-Robot Interaction (HRI) safety. To translate abstract behavioral requirements into robust control logic, designed a dual-policy HRI architecture that combines stochastic tracking via a PPO policy with reflexive collision avoidance using deterministic IK. Additionally, engineered an end-to-end Isaac Sim pipeline utilizing domain randomization and action-rate regularization to facilitate seamless zero-shot sim-to-real transfer through the LeRobot API.