{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,4]],"date-time":"2026-10-04T00:18:15Z","timestamp":1791073095477,"version":"4.1.0"},"reference-count":38,"publisher":"Wiley","issue":"45","license":[{"start":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T00:00:00Z","timestamp":1779148800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T00:00:00Z","timestamp":1779148800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62403029"],"award-info":[{"award-number":["62403029"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["GDST25EG07"],"award-info":[{"award-number":["GDST25EG07"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"published-print":{"date-parts":[[2026,8]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    Magnetic soft millirobots enable untethered locomotion in narrow environments. However, their design remains largely intuition\u2010driven due to complex interactions among soft\u2010body deformation, magnetic actuation, and environmental contact. Here, we propose an uncertainty\u2010aware, data\u2010efficient inverse design methodology tailored for contact\u2010rich, non\u2010smooth environments. It integrates a physics\u2010based Cosserat rod model with Gaussian Process\u2010based Bayesian optimization to automate robot design for confined\u2010space crawling. To mitigate sim\u2010to\u2010real discrepancies, domain randomization is incorporated by explicitly modeling contact uncertainty. Channel segmentation focusing on critical geometric bottlenecks enhances efficiency and accuracy, halving optimization time and increasing R\n                    <jats:sup>2<\/jats:sup>\n                    by nearly an order of magnitude in a serpentine channel. Optimized robots consistently outperform arbitrarily selected baseline designs, achieving stable crawling across heterogeneous conditions without failures such as coiling or jamming. When applied to coronary artery\u2010mimicking geometries, the optimized design reached 2.66\u00a0mm\/s, nearly doubling the average baseline speed of 1.42\u00a0mm\/s. Validation in an artery\u2010mimicking channel with 2.5\u00a0mm out\u2010of\u2010plane undulations further demonstrates the reliability of the optimization framework; notably, the optimized design maintained uninterrupted motion while 25% of baseline designs got stuck. This work establishes an uncertainty\u2010aware inverse design methodology for task\u2010driven magnetic soft millirobot design, paving the way toward automated design\u2010to\u2010deployment pipelines for real\u2010world applications.\n                  <\/jats:p>","DOI":"10.1002\/advs.75714","type":"journal-article","created":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T14:35:41Z","timestamp":1779201341000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Data\u2010Driven Inverse Design Methodology for Magnetic Soft Millirobots Navigating in Confined Spaces"],"prefix":"10.1002","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0824-1805","authenticated-orcid":false,"given":"Ziyu","family":"Ren","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing 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