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cs.RO2026
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…
cs.RO2026
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…