{"id":"https://openalex.org/W7135009278","doi":"https://doi.org/10.48550/arxiv.2603.10059","title":"Model-Free Co-Optimization of Manufacturable Sensor Layouts and Deformation Proprioception","display_name":"Model-Free Co-Optimization of Manufacturable Sensor Layouts and Deformation Proprioception","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7135009278","doi":"https://doi.org/10.48550/arxiv.2603.10059"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.10059","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10059","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.10059","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128828034","display_name":"Yingjun Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tian, Yingjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029504493","display_name":"Guoxin Fang","orcid":"https://orcid.org/0000-0001-8741-3227"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Guoxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114341207","display_name":"Aoran Lyu","orcid":"https://orcid.org/0000-0002-5142-5979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lyu, Aoran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128872382","display_name":"Xilong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xilong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075964563","display_name":"Zikang Shi","orcid":"https://orcid.org/0000-0002-2420-7722"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Zikang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128820654","display_name":"Yuhu Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Yuhu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128881751","display_name":"Weiming Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Weiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5112807651","display_name":"Charlie C.L. Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Charlie C. L.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5128828034"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.73580002784729,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.73580002784729,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.16140000522136688,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.014800000004470348,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7257999777793884},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47369998693466187},{"id":"https://openalex.org/keywords/design-for-manufacturability","display_name":"Design for manufacturability","score":0.4578000009059906},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.45579999685287476},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4302999973297119},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4291999936103821},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4002000093460083},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.39489999413490295}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7257999777793884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5339999794960022},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47369998693466187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4726000130176544},{"id":"https://openalex.org/C62064638","wikidata":"https://www.wikidata.org/wiki/Q553878","display_name":"Design for manufacturability","level":2,"score":0.4578000009059906},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4302999973297119},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4291999936103821},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.39489999413490295},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.39329999685287476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3831000030040741},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3172000050544739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30239999294281006},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.26919999718666077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.10059","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10059","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.10059","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10059","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Flexible":[0],"sensors":[1,60],"are":[2,145],"increasingly":[3],"employed":[4],"in":[5],"soft":[6,154],"robotics":[7],"and":[8,55,92,114,121,140,149,156],"wearable":[9,157],"devices":[10],"to":[11,97],"provide":[12],"proprioception":[13],"of":[14,57,65,84,142],"freeform":[15,72],"deformations.Although":[16],"supervised":[17],"learning":[18],"can":[19],"train":[20],"shape":[21,67],"predictors":[22],"from":[23],"sensor":[24,31,119],"signals,":[25],"prediction":[26,68,112,129],"accuracy":[27,113,130],"strongly":[28],"depends":[29],"on":[30,82,152],"layout,":[32],"which":[33],"is":[34,93],"typically":[35],"determined":[36],"heuristically":[37],"or":[38],"through":[39,147],"trial-and-error.":[40],"This":[41],"work":[42],"introduces":[43],"a":[44,66],"model-free,":[45],"data-driven":[46],"computational":[47],"pipeline":[48,103],"that":[49,108],"jointly":[50],"optimizes":[51],"the":[52,63,77,124,143],"number,":[53],"length,":[54],"placement":[56],"flexible":[58],"length-measurement":[59],"together":[61],"with":[62],"parameters":[64],"network":[69,122],"for":[70,110],"large":[71],"deformations.":[73],"Unlike":[74],"model-based":[75],"approaches,":[76],"proposed":[78],"method":[79,125],"relies":[80],"solely":[81],"datasets":[83],"deformed":[85],"shapes,":[86],"without":[87],"requiring":[88],"physical":[89,150],"simulation":[90],"models,":[91],"therefore":[94],"broadly":[95],"applicable":[96],"diverse":[98],"robotic":[99,155],"sensing":[100],"tasks.":[101],"The":[102,138],"incorporates":[104],"differentiable":[105],"loss":[106],"functions":[107],"account":[109],"both":[111],"manufacturability":[115],"constraints.":[116],"By":[117],"co-optimizing":[118],"layouts":[120,133],"parameters,":[123],"significantly":[126],"improves":[127],"deformation":[128],"over":[131],"unoptimized":[132],"while":[134],"ensuring":[135],"practical":[136],"feasibility.":[137],"effectiveness":[139],"generality":[141],"approach":[144],"validated":[146],"numerical":[148],"experiments":[151],"multiple":[153],"systems.":[158]},"counts_by_year":[],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2026-03-13T00:00:00"}
