Author

Ting-Cong Liu

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Preprint Sep 2026

SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation remains a fundamental challenge. We present SWIM, a framework that maps an initial RGB observation and a language instruction to a complete act...

Ting-Cong Liu, A. P. P. Aung, Jun-Jie Xiong et al. · 0 citations

Preprint Sep 2026

Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot

Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body grasping and pick-and-throw from an initially ungrasped state through outcome-based actuation-space optimization. Grasping is quantified by t...

Marwah Basuhai, Ting-Cong Liu, Ibrahim Alsarraj et al. · 0 citations