Author

Jun-Jie Xiong

2 papers indexed here

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Preprint Sep 2026

History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots

Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measured joint configurations and nominal tendon commands do not fully characterize these internal mechanical factors, leaving uncertainty in the...

Hang-Tao Yang, Ting-Cong Liu, Jun-Jie Xiong et al. · 0 citations

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