# Autonomous Droplet Navigation via Model-Based Reinforcement Learning

arXiv: https://arxiv.org/abs/2609.16369 · HTML: https://mlsanity.com/paper/2609.16369/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 1 of its 11 references that are in the map.
- First posted on arXiv 14 Sep 2026.

## Builds on (most cited first, 1 of 1)

- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)

## Built on by (most cited first, 1 of 1)

- [Autonomous Droplet Navigation via Model-Based Reinforcement Learning: Zero-Shot Transfer and Emergent Dynamics](https://mlsanity.com/paper/2610.08852/) (2026)

## Abstract (arXiv)

Precise manipulation of liquid droplets underpins lab-on-a-chip platforms for diagnostics, chemical synthesis, and biological assays. Yet autonomous droplet transport through confined geometries of varying complexity remains an open challenge. Droplets exhibit contact-angle hysteresis, deformability, and capillary pinning, which make their response to actuation nonlinear and history dependent, that classical controllers and pre-programmed trajectories cannot cope in multi-turn environments. Here we demonstrate autonomous navigation of a liquid droplet through geometries of increasing complexity on a gravity driven (Labyrinth) platform using model-based reinforcement learning. A thin silicone oil film reduces contact-line pinning while two-axis tilt supplies the gravitational driving force, and an overhead camera tracks the droplet in real time. An offline-trained policy discovers effective tilt strategies from limited physical interaction data, without simulation or analytical droplet models. The system operates under partial observability, as oil-film thickness, instantaneous contact angle, and droplet deformation state remain hidden from the controller. Despite these challenges, the learned policy achieves reliable navigation across straight, right-angle, and curved-arc paths, including outside-corner geometries. We further demonstrate that a policy trained on a simpler geometry transfers to complex ones, succeeding zero-shot on right-angle and staircase paths and reaching full success on a curved arc with a fifth of the training data. The findings suggest promising avenues for enabling droplet based microfluidic systems to serve as intelligent chemical laboratories.