6 papers
Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
Fangju Yang, Siyi Ma, Tonghao Guan +5
Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified ac…
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…
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
Hang Yang, Tingcong Liu, Junjie Xiong +2
Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measu…
SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation
Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4
Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation rem…
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…
Group-in-Group Policy Optimization for LLM Agent Training
Lang Feng, Zhenghai Xue, Tingcong Liu +1
Recent advances in group-based reinforcement learning (RL) have driven frontier large language models (LLMs) in single-turn tasks like mathematical reasoning. However, their scalab…