Chengyi Xu

h-index43
2papers

2 Papers

LGJan 25Code
Multimodal Machine Learning for Soft High-k Elastomers under Data Scarcity

Brijesh FNU, Viet Thanh Duy Nguyen, Ashima Sharma et al.

Dielectric materials are critical building blocks for modern electronics such as sensors, actuators, and transistors. With the rapid recent advance in soft and stretchable electronics for emerging human- and robot-interfacing applications, there is a surging need for high-performance dielectric elastomers. However, it remains a grand challenge to develop soft elastomers that simultaneously possess high dielectric constants (k, related to energy storage capacity) and low Young's moduli (E, related to mechanical flexibility). While some new elastomer designs have been reported in individual (mostly one-off) studies, almost no structured dataset is currently available for dielectric elastomers that systematically encompasses their molecular sequence, dielectric, and mechanical properties. Within this context, we curate a compact, high-quality dataset of acrylate-based dielectric elastomers, one of the most widely explored elastomer backbones due to its versatile chemistry and molecular design flexibility, by screening and aggregating experimental results from the literature over the past 10 years. Building on this dataset, we propose a multimodal learning framework that leverages large-scale pretrained polymer representations from graph- and sequence-based encoders. These pretrained embeddings transfer rich chemical and structural knowledge from vast polymer corpora, enabling accurate few-shot prediction of both dielectric and mechanical properties from molecular sequences. Our results represent a new paradigm for transferring knowledge from pretrained multimodal models to overcome severe data scarcity, which can be readily translated to other polymer backbones (e.g., silicones, urethanes) and thus accelerate data-efficient discovery of soft high-k dielectric elastomers. Our source code and dataset are publicly available at https://github.com/HySonLab/Polymers

ROSep 23, 2025
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation

Suzannah Wistreich, Baiyu Shi, Stephen Tian et al.

Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains a longstanding challenge. In this work, we take a step towards this goal by introducing DexSkin. DexSkin is a soft, conformable capacitive electronic skin that enables sensitive, localized, and calibratable tactile sensing, and can be tailored to varying geometries. We demonstrate its efficacy for learning downstream robotic manipulation by sensorizing a pair of parallel jaw gripper fingers, providing tactile coverage across almost the entire finger surfaces. We empirically evaluate DexSkin's capabilities in learning challenging manipulation tasks that require sensing coverage across the entire surface of the fingers, such as reorienting objects in hand and wrapping elastic bands around boxes, in a learning-from-demonstration framework. We then show that, critically for data-driven approaches, DexSkin can be calibrated to enable model transfer across sensor instances, and demonstrate its applicability to online reinforcement learning on real robots. Our results highlight DexSkin's suitability and practicality for learning real-world, contact-rich manipulation. Please see our project webpage for videos and visualizations: https://dex-skin.github.io/.