@article{tang2026flex,
  title={{FlexWorm}: Primitive-Augmented Hybrid Contact-Motion Planning for Suction-Based Multi-Segment Deformable Robots},
  author={Tang, Zili and Guo, Tiecheng and Zhang, Qinyue and Guo, Meng},
  journal={IEEE Robotics and Automation Letters},
  year={2026},
  note={To appear},
  eprint={2608.16853},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2608.16853}
}