diff --git a/.github/workflows/build_wheels.yaml b/.github/workflows/build_wheels.yaml
new file mode 100644
index 0000000..592faf1
--- /dev/null
+++ b/.github/workflows/build_wheels.yaml
@@ -0,0 +1,48 @@
+name: Build and Publish Wheel
+
+on:
+  push:
+    branches:
+      - master
+  release:
+    types:
+      - published
+
+jobs:
+  build_wheel:
+    name: Build wheel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+          cache: "pip"
+
+      - name: Build wheel
+        run: |
+          python -m pip install --upgrade pip build
+          python -m build --wheel
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheel
+          path: dist/*.whl
+
+  upload_pypi:
+    needs:
+      - build_wheel
+    runs-on: ubuntu-latest
+    if: github.event_name == 'release' && github.event.action == 'published'
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: wheel
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/README.md b/README.md
index aab3757..361b5a5 100644
--- a/README.md
+++ b/README.md
@@ -30,27 +30,18 @@ The setup is designed to stay reproducible across labs: tasks can be instantiate
 
 ## Installation
 
-DuoBench builds on the Robot Control Stack (`rcs`) in the parent repository. A clean Python 3.11 environment is recommended. 🚀
-
-### 1. Install RCS
-
-Make sure common build tools and a C++ compiler such as `gcc` or `clang` are available.
-
+### Installation from PyPI (recommended)
 ```shell
-git clone https://github.com/RobotControlStack/robot-control-stack.git
-cd robot-control-stack
-
-conda create -n rcs python=3.11
-conda activate rcs
-conda install -c conda-forge urdfdom urdfdom_headers glfw
-
-pip install 'pip>=25.1'
-pip install --group build_deps
-pip install -ve .
+pip install duobench
 ```
 
-### 2. Install DuoBench
+### Installation from Source
+This is recommended for developers that need to modify sources of either DuoBench or RCS.
+
+#### 1. Install RCS
+Follow the install instructions from the [RCS Repo](https://github.com/RobotControlStack/robot-control-stack) (either from PyPI or from source).
 
+#### 2. Install DuoBench
 ```shell
 git clone https://github.com/RobotControlStack/duobench.git
 cd duobench
diff --git a/pyproject.toml b/pyproject.toml
index 9131976..2b66206 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,8 +5,9 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "duobench"
 version = "0.1.0"
-description="RCS models module"
+description="FR3 Duo Bimanual Manipulation Benchmark"
 dependencies = [
+    "rcs-core>=0.7.2",
     "av>=17.0.1",
     "einops>=0.8.2",
     "scipy>=1.15.3",
@@ -14,10 +15,10 @@ dependencies = [
 ]
 readme = "README.md"
 maintainers = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
 ]
 authors = [
-  { name = "Tobias Jülg", email = "tobias.juelg@utn.de" },
+  { name = "Tobias Juelg", email = "tobias.juelg@utn.de" },
 ]
 requires-python = ">=3.11"
 license = { text = "Apache-2.0" }