{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,3]],"date-time":"2026-11-03T03:02:06Z","timestamp":1793674926332,"version":"4.5.1"},"reference-count":53,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"24","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62475132"],"award-info":[{"award-number":["62475132"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Beijing Natural Science Foundation","award":["L241021"],"award-info":[{"award-number":["L241021"]}]}],"content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Adv."],"published-print":{"date-parts":[[2026,6,12]]},"abstract":"<jats:p>The evolution of soft robots into embodied intelligent systems relies fundamentally on precise proprioception. However, a universal solution for capturing continuous deformations during diverse interactions, particularly in spatially confined interventional scenarios, remains lacking. Here, we introduce a deep learning\u2013enabled versatile shape perception method based on a single-ended multimode fiber (MMF). By leveraging the intrinsic integration advantages of optics, our minimalist reflective architecture physically eliminates the dependence on complex demodulation units and distal devices. Furthermore, treating chaotic optical speckle fields as data streams encoding high-dimensional shape information, reconfigurable neural decoders resolve a single physical channel into versatile perception modes tailored to heterogeneous tasks: discrete state confirmation on soft grippers (&gt;99% accuracy), continuous shape tracking on bionic dexterous hands (~5-fold spatial resolution enhancement), and intuitive 3D morphological reconstruction of soft surgical robots (IoU&gt;0.93). Overall, our work establishes a versatile framework for breaking hardware adaptability limits via computation, laying a solid foundation for closed-loop control in digital twins of soft robots.<\/jats:p>","DOI":"10.1126\/sciadv.aef6263","type":"journal-article","created":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T17:58:47Z","timestamp":1781287127000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":3,"title":["Deep learning\u2013enabled versatile shape perception for soft robots via single-ended multimode fiber"],"prefix":"10.1126","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-5276-4446","authenticated-orcid":true,"given":"Zhaofan","family":"He","sequence":"first","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2781-4218","authenticated-orcid":true,"given":"Lele","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haidi","family":"Geng","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengyang","family":"Lu","sequence":"additional","affiliation":[{"name":"Weixian College, Tsinghua University, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1880-9891","authenticated-orcid":true,"given":"Tiantian","family":"He","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongkun","family":"Zhong","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3906-0890","authenticated-orcid":true,"given":"Hailong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-8333-1762","authenticated-orcid":true,"given":"Runfeng","family":"Zhu","sequence":"additional","affiliation":[{"name":"West China Biomedical Big Data Center, West China Hospital, Sichuan University, Chengdu 610041, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7524-5342","authenticated-orcid":true,"given":"Qingxiang","family":"Zhao","sequence":"additional","affiliation":[{"name":"West China Biomedical Big Data Center, West China Hospital, Sichuan University, Chengdu 610041, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5409-5610","authenticated-orcid":true,"given":"Yuan","family":"Meng","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dan","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ping","family":"Yan","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-9633-1093","authenticated-orcid":true,"given":"Qiang","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9419-3939","authenticated-orcid":true,"given":"Qirong","family":"Xiao","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China."},{"name":"State Key Laboratory of Precision Space-time Information Sensing Technology, Beijing 100084, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-021-25874-z"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adv9572"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax7329"},{"key":"e_1_3_2_5_2","first-page":"e01142","article-title":"A novel piezoelectric-driven and sensing soft robot","volume":"10","author":"Mu W.","year":"2025","unstructured":"W. Mu, W. Zhao, B. Li, Y. Liu, R. Yin, A novel piezoelectric-driven and sensing soft robot. Adv. Mater. 10, e01142 (2025).","journal-title":"Adv. Mater."},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202003558"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz9239"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-025-09481-2"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adu4851"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav1488"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-023-00622-8"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adr1099"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-024-54327-6"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.01.071"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc6878"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200329"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202401123"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aai7529"},{"key":"e_1_3_2_20_2","first-page":"2400175","article-title":"A bioinspired robotic finger for multimodal tactile sensing powered by fiber optic sensors","volume":"6","author":"Mao B.","year":"2024","unstructured":"B. Mao, K. Zhou, Y. Xiang, Y. Zhang, Q. Yuan, H. Hao, Y. Chen, H. Liu, X. Wang, X. Wang, J. Qu, A bioinspired robotic finger for multimodal tactile sensing powered by fiber optic sensors. Adv. Funct. Mater. 6, 2400175 (2024).","journal-title":"Adv. Funct. Mater."},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202522722"},{"key":"e_1_3_2_22_2","first-page":"906","article-title":"Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions","volume":"15","author":"Park Y.-L.","year":"2010","unstructured":"Y.-L. Park, S. Elayaperumal, B. Daniel, S. C. Ryu, M. Shin, J. Savall, R. J. Black, B. Moslehi, M. R. Cutkosky, Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions. IEEE\/ASME Trans. Mechatron. 15, 906\u2013915 (2010).","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067279"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3125853"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1364\/OPTICA.532250"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/JLT.2024.3363171"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1364\/AOP.484298"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-022-15781-8"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2024.06.029"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2024.3430381"},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","first-page":"e06296","DOI":"10.1002\/advs.202506296","article-title":"Bioinspired intelligent soft robotics: From multidisciplinary integration to next-generation intelligence","volume":"12","author":"Wang X.","year":"2025","unstructured":"X. Wang, R. Wei, Z. Chen, H. Pang, H. Li, Y. Yang, Q. Hua, G. Shen, Bioinspired intelligent soft robotics: From multidisciplinary integration to next-generation intelligence. Adv. Sci. 12, e06296 (2025).","journal-title":"Adv. Sci."},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1002\/lpor.202100724"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41565-024-01729-8"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-024-00829-3"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-025-64397-9"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adu2018"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202104270"},{"key":"e_1_3_2_38_2","unstructured":"A. Vaswani N. Shazeer N. Parmar J. Uszkoreit L. Jones A. Gomez L. Kaiser I. Polosukhin Attention is all you need. arXiv:1706.03762 [cs.CL] (2017)."},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2025.3618630"},{"key":"e_1_3_2_40_2","first-page":"1006","article-title":"Efficient and scalable reinforcement learning for large-scale network control","volume":"6","author":"Ma C.","year":"2024","unstructured":"C. Ma, A. Li, Y. Du, H. Dong, Y. Yang, Efficient and scalable reinforcement learning for large-scale network control. Nat. Mach. Intell. 6, 1006\u20131020 (2024).","journal-title":"Nat. Mach. Intell."},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1038\/nphoton.2013.94"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-31902-3"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-40995-3"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41377-022-01067-1"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41566-025-01621-4"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1038\/s43588-021-00184-y"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-30539-6"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aec4252"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-022-04714-0"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-020-20719-7"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adu7277"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-024-07687-4"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41566-023-01240-x"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-025-01467-9"}],"container-title":["Science Advances"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/sciadv.aef6263","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T18:01:14Z","timestamp":1781287274000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/sciadv.aef6263"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,12]]},"references-count":53,"journal-issue":{"issue":"24","published-print":{"date-parts":[[2026,6,12]]}},"alternative-id":["10.1126\/sciadv.aef6263"],"URL":"https:\/\/doi.org\/10.1126\/sciadv.aef6263","relation":{},"ISSN":["2375-2548"],"issn-type":[{"value":"2375-2548","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6,12]]},"assertion":[{"value":"2026-01-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-04-30","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-06-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eaef6263"}}