8 papers
Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot
Marwah Basuhai, Tingcong Liu, Ibrahim Alsarraj +2
Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body g…
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
Tingcong Liu, Tongshun Chen, Siyi Ma +6
For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel for diverse whole-body expression, but grounding open-vocabulary respo…
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…
EmoAra: Emotion-Preserving English Speech Transcription and Cross-Lingual Translation with Arabic Text-to-Speech
Besher Hassan, Ibrahim Alsarraj, Musaab Hasan +3
This work presents EmoAra, an end-to-end emotion-preserving pipeline for cross-lingual spoken communication, motivated by banking customer service where emotional context affects s…
PedagoSense: A Pedology Grounded LLM System for Pedagogical Strategy Detection and Contextual Response Generation in Learning Dialogues
Shahem Sultan, Shahem Fadi, Yousef Melhim +2
This paper addresses the challenge of improving interaction quality in dialogue based learning by detecting and recommending effective pedagogical strategies in tutor student conve…
Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation
Fangju Yang, Hang Yang, Ibrahim Alsarraj +2
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. I…
A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Ibrahim Alsarraj, Yuhao Wang, Abdalla Swikir +4
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often…
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
Liudi Yang, Yang Bai, Yuhao Wang +4
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom an…