ניווט דרופלט אוטונומי דרך שיפור תכנון מבוסס-מודל: תעבורה חסרת-פצצה ודינמיקות נוספות

תקציר מקורי באנגליתarXiv:2610.08852v1 Announce Type: cross Abstract: Self-driving laboratories (SDLs) are transforming chemical and materials discovery through closed-loop automation, yet automated infrastructure for physical manipulation of soft, deformable matter remains beyond current robotic platforms. A critical instance is autonomous droplet transport on an open surface, where contact-angle hysteresis, capillary pinning, and surface heterogeneity produce partially observable dynamics that pose significant challenges for classical model-based controllers. We introduce the first robotic platform for closed-loop autonomous liquid droplet navigation on an open, unconfined surface using model-based reinforcement learning. A two-axis tilting board coated with a thin silicone oil film drives the droplet, whil