Ibrahim Alsarraj

Liudi Yang, Yang Bai, Yuhao Wang et al.

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback controllers to manage such interactions. Soft robots, by contrast, exhibit embodied mechanical intelligence: their underactuated structures and passive flexibility of their whole body, naturally accommodate uncertain contacts and enable adaptive behaviors. To harness this capability, we propose a lightweight actuation-space learning framework that infers distributional control representations for whole-body soft robotic grasping, directly from deterministic demonstrations using a flow matching model (Rectified Flow),without requiring dense sensing or heavy control loops. Using only 30 demonstrations (less than 8% of the reachable workspace), the learned policy achieves a 97.5% grasp success rate across the whole workspace, generalizes to grasped-object size variations of +-33%, and maintains stable performance when the robot's dynamic response is directly adjusted by scaling the execution time from 20% to 200%. These results demonstrate that actuation-space learning, by leveraging its passive redundant DOFs and flexibility, converts the body's mechanics into functional control intelligence and substantially reduces the burden on central controllers for this uncertain-rich task.

Ibrahim Alsarraj, Yuhao Wang, Abdalla Swikir et al.

Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware complexity and limit scalability. This work introduces a unified multi-dynamics modeling framework for tendon-driven continuum robotic systems, exemplified by a spiral-inspired robot named Spirob. The framework integrates motor electrical dynamics, motor-winch dynamics, and continuum robot dynamics into a coherent system model. Within this framework, motor signals such as current and angular displacement are modeled to expose the electromechanical signatures of external interactions, enabling perception grounded in intrinsic dynamics. The model captures and validates key physical behaviors of the real system, including actuation hysteresis and self-contact at motion limits. Building on this foundation, the framework is applied to environmental interaction: first for passive contact detection, verified experimentally against simulation data; then for active contact sensing, where control and perception strategies from simulation are successfully applied to the real robot; and finally for object size estimation, where a policy learned in simulation is directly deployed on hardware. The results demonstrate that the proposed framework provides a physically grounded way to interpret interaction signatures from intrinsic motor signals in tendon-driven continuum robots.

Hang Yang, Fangju Yang, Yangming Zhang et al.

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective oscillations, while deterministic regression-based learners struggle to capture the complex nonlinear mappings required for accurate dynamic tracking. Motivated by these limitations, we propose an inverse-dynamics framework for open-loop feedforward control that learns the system's differential dynamics as a generative transport map. Specifically, inverse dynamics is reformulated as a conditional flow-matching problem, and Rectified Flow (RF) is adopted as a lightweight instance to generate physically consistent control inputs rather than conditional averages. Two variants are introduced to further enhance physical consistency: RF-Physical, utilizing a physics-based prior for residual modeling; and RF-FWD, integrating a forward-dynamics consistency loss during flow matching. Extensive evaluations demonstrate that our framework reduces trajectory tracking RMSE by over 50% compared to standard regression baselines (MLP, LSTM, Transformer). The system sustains stable open-loop execution at a peak end-effector velocity of 1.14 m/s with sub-millisecond inference latency (0.995 ms). This work demonstrates flow matching as a robust, high-performance paradigm for learning differential inverse dynamics in soft robotic systems.

Besher Hassan, Ibrahim Alsarraj, Musaab Hasan et al.

This work presents EmoAra, an end-to-end emotion-preserving pipeline for cross-lingual spoken communication, motivated by banking customer service where emotional context affects service quality. EmoAra integrates Speech Emotion Recognition, Automatic Speech Recognition, Machine Translation, and Text-to-Speech to process English speech and deliver an Arabic spoken output while retaining emotional nuance. The system uses a CNN-based emotion classifier, Whisper for English transcription, a fine-tuned MarianMT model for English-to-Arabic translation, and MMS-TTS-Ara for Arabic speech synthesis. Experiments report an F1-score of 94% for emotion classification, translation performance of BLEU 56 and BERTScore F1 88.7%, and an average human evaluation score of 81% on banking-domain translations. The implementation and resources are available at the accompanying GitHub repository.

Shahem Sultan, Shahem Fadi, Yousef Melhim et al.

This paper addresses the challenge of improving interaction quality in dialogue based learning by detecting and recommending effective pedagogical strategies in tutor student conversations. We introduce PedagoSense, a pedology grounded system that combines a two stage strategy classifier with large language model generation. The system first detects whether a pedagogical strategy is present using a binary classifier, then performs fine grained classification to identify the specific strategy. In parallel, it recommends an appropriate strategy from the dialogue context and uses an LLM to generate a response aligned with that strategy. We evaluate on human annotated tutor student dialogues, augmented with additional non pedagogical conversations for the binary task. Results show high performance for pedagogical strategy detection and consistent gains when using data augmentation, while analysis highlights where fine grained classes remain challenging. Overall, PedagoSense bridges pedagogical theory and practical LLM based response generation for more adaptive educational technologies.