{"paper":{"title":"Enabling microrobotic chemotaxis via reset-free hierarchical reinforcement learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["physics.bio-ph"],"primary_cat":"cond-mat.soft","authors_text":"Chong Jin Ong, Lailai Zhu, Tongzhao Xiong, Zhaorong Liu","submitted_at":"2024-08-14T07:41:04Z","abstract_excerpt":"Microorganisms have evolved diverse strategies to propel in viscous fluids, navigate complex environments, and exhibit taxis in response to stimuli. This has inspired the development of synthetic microrobots, where machine learning (ML) is playing an increasingly important role. Can ML endow these robots with intelligence resembling that developed by their natural counterparts over evolutionary timelines? Here, we demonstrate chemotactic navigation of a multi-link articulated microrobot using two-level hierarchical reinforcement learning (RL). The lower-level RL allows the robot -- featuring e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.07346","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2408.07346/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}