SOURCE-LINKED INTELLIGENCE
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 actuation-command sequence. Its vision-language-action (VLA) policy, SWIM-VLA, combines a diffusion action head with Visual Soft Proprioception (VSP) through a shared representation of RGB observations, language instructions, and tendon states. The diffusion head models conditional
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-15T11:41:36.000Z
First collected: 2026-09-20T08:40:59.508Z. This is not the publication date.