Abstract-- Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort remains a significant challenge. In this study, we present a novel fabrication and design method that combines the advantages of origami structures with the material programmability and wearability of knitted fabrics. We introduce a general design method that translates origami patterns into knit designs by programming both stitch and material patterns. The method creates folds in preferred directions while suppressing unintended buckling and bending by selectively incorporating heat fusible yarn to create rigid panels around compliant creases. We experimentally quantify folding moments and show that stitch patterning enhances folding directionality while the heat fusible yarn (1) keeps geometry consistent by reducing edge curl and (2) prevents out-of-plane deformations by stiffening panels. We demonstrate the framework through the successful reproduction of complex origami tessellations, including Miura-ori, Y oshimura, and Kresling patterns, and present a wearable knitted Kaleidocycle robot capable of locomotion. The combination of structural reconfigurability, material programmability, and potential for manufacturing scalability highlights knitted origami as a promising platform for next-generation wearable robotics. I. INTRODUCTION Soft robots operate effectively in human environments by conforming to their surroundings using their material compliance [1], [2], [3].

As the social environment is growing more complex and collaboration is deepening, factors affecting the healthy development of service ecosystem are constantly changing and diverse, making its governance a crucial research issue. Applying the scenario analysis method and conducting scenario rehearsals by constructing an experimental system before managers make decisions, losses caused by wrong decisions can be largely avoided. However, it relies on predefined rules to construct scenarios and faces challenges such as limited information, a large number of influencing factors, and the difficulty of measuring social elements. These challenges limit the quality and efficiency of generating social and uncertain scenarios for the service ecosystem. Therefore, we propose a scenario generator design method, which adaptively coordinates three Large Language Model (LLM) empowered agents that autonomously optimize experimental schemes to construct an experimental system and generate high quality scenarios. Specifically, the Environment Agent (EA) generates social environment including extremes, the Social Agent (SA) generates social collaboration structure, and the Planner Agent (PA) couples task-role relationships and plans task solutions. These agents work in coordination, with the PA adjusting the experimental scheme in real time by perceiving the states of each agent and these generating scenarios. Experiments on the ProgrammableWeb dataset illustrate our method generates more accurate scenarios more efficiently, and innovatively provides an effective way for service ecosystem governance related experimental system construction.

Machine learning methods can automate the in silico design of biological sequences, aiming to reduce costs and accelerate medical research. Given the limited access to wet labs, in silico design methods commonly use an oracle model to evaluate de novo generated sequences. However, the use of different oracle models across methods makes it challenging to compare them reliably, motivating the question: are in silico sequence design benchmarks reliable? In this work, we examine 12 sequence design methods that utilise ML oracles common in the literature and find that there are significant challenges with their cross-consistency and reproducibility. Indeed, oracles differing by architecture, or even just training seed, are shown to yield conflicting relative performance with our analysis suggesting poor out-of-distribution generalisation as a key issue. To address these challenges, we propose supplementing the evaluation with a suite of biophysical measures to assess the viability of generated sequences and limit out-of-distribution sequences the oracle is required to score, thereby improving the robustness of the design procedure. Our work aims to highlight potential pitfalls in the current evaluation process and contribute to the development of robust benchmarks, ultimately driving the improvement of in silico design methods.

The popularity of mobile vision creates a demand for advanced compact computational imaging systems, which call for the development of both a lightweight optical system and an effective image reconstruction model. Recently, joint design pipelines come to the research forefront, where the two significant components are simultaneously optimized via data-driven learning to realize the optimal system design. However, the effectiveness of these designs largely depends on the initial setup of the optical system, complicated by a non-convex solution space that impedes reaching a globally optimal solution. In this work, we present Global Search Optics (GSO) to automatically design compact computational imaging systems through two parts: (i) Fused Optimization Method for Automatic Optical Design (OptiFusion), which searches for diverse initial optical systems under certain design specifications; and (ii) Efficient Physic-aware Joint Optimization (EPJO), which conducts parallel joint optimization of initial optical systems and image reconstruction networks with the consideration of physical constraints, culminating in the selection of the optimal solution. Extensive experimental results on the design of three-piece (3P) sphere computational imaging systems illustrate that the GSO serves as a transformative end-to-end lens design paradigm for superior global optimal structure searching ability, which provides compact computational imaging systems with higher imaging quality compared to traditional methods. The source code will be made publicly available at https://github.com/wumengshenyou/GSO.

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on missions that a swarm can execute independently, interacting only with a static environment and without the involvement of other active entities. In this paper, we investigate the design of robot swarms that perform their mission by interacting with other robots that populate their environment. We frame our research within robot shepherding: the problem of using a small group of robots, the shepherds, to coordinate a relatively larger group, the sheep. In our study, the group of shepherds is the swarm that is automatically designed, and the sheep are pre-programmed robots that populate its environment. We use automatic modular design and neuroevolution to produce the control software for the swarm of shepherds to coordinate the sheep. We show that automatic design can leverage mission-specific interaction strategies to enable an effective coordination between the two groups.

As artificial intelligence (AI) continues advancing, ensuring positive societal impacts becomes critical, especially as AI systems become increasingly ubiquitous in various aspects of life. However, developing "AI for good" poses substantial challenges around aligning systems with complex human values. Presently, we lack mature methods for addressing these challenges. This article presents and evaluates the Positive AI design method aimed at addressing this gap. The method provides a human-centered process to translate wellbeing aspirations into concrete practices. First, we explain the method's four key steps: contextualizing, operationalizing, optimizing, and implementing wellbeing supported by continuous measurement for feedback cycles. We then present a multiple case study where novice designers applied the method, revealing strengths and weaknesses related to efficacy and usability. Next, an expert evaluation study assessed the quality of the resulting concepts, rating them moderately high for feasibility, desirability, and plausibility of achieving intended wellbeing benefits. Together, these studies provide preliminary validation of the method's ability to improve AI design, while surfacing areas needing refinement like developing support for complex steps. Proposed adaptations such as examples and evaluation heuristics could address weaknesses. Further research should examine sustained application over multiple projects. This human-centered approach shows promise for realizing the vision of 'AI for Wellbeing' that does not just avoid harm, but actively benefits humanity.

The rapid design of advanced materials is a topic of great scientific interest. The conventional, ``forward'' paradigm of materials design involves evaluating multiple candidates to determine the best candidate that matches the target properties. However, recent advances in the field of deep learning have given rise to the possibility of an ``inverse'' design paradigm for advanced materials, wherein a model provided with the target properties is able to find the best candidate. Being a relatively new concept, there remains a need to systematically evaluate how these two paradigms perform in practical applications. Therefore, the objective of this study is to directly, quantitatively compare the forward and inverse design modeling paradigms. We do so by considering two case studies of refractory high-entropy alloy design with different objectives and constraints and comparing the inverse design method to other forward schemes like localized forward search, high throughput screening, and multi objective optimization.

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots through computer-based simulations. Most relevant literature has focused on effectively transferring control software from simulation to physical robots. For the first time, we investigate (i) whether control software generated via automatic design is transferable across robot platforms and (ii) whether the design methods that generate such control software are themselves transferable. We experiment with two ground mobile platforms with equivalent capabilities. Our measure of transferability is based on the performance drop observed when control software and/or design methods are ported from one platform to another. Results indicate that while the control software generated via automatic design is transferable in some cases, better performance can be achieved when a transferable method is directly applied to the new platform.

Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, Demo-Cho successfully generated control software to perform four missions. We present results obtained in simulation and with physical robots.

From an engineering perspective, a design should not only perform well in an ideal condition, but should also resist noises. Such a design methodology, namely robust design, has been widely implemented in the industry for product quality control. However, classic robust design requires a lot of evaluations for a single design target, while the results of these evaluations could not be reused for a new target. To achieve a data-efficient robust design, we propose Robust Inverse Design under Noise (RID-Noise), which can utilize existing noisy data to train a conditional invertible neural network (cINN). Specifically, we estimate the robustness of a design parameter by its predictability, measured by the prediction error of a forward neural network. We also define a sample-wise weight, which can be used in the maximum weighted likelihood estimation of an inverse model based on a cINN. With the visual results from experiments, we clearly justify how RID-Noise works by learning the distribution and robustness from data. Further experiments on several real-world benchmark tasks with noises confirm that our method is more effective than other state-of-the-art inverse design methods. Code and supplementary is publicly available at https://github.com/ThyrixYang/rid-noise-aaai22