Physically intelligent capsule robots with embodied memory and logic in the gastrointestinal tract - Huyue Chen; Xurui Liu; Jiahai Ma; Yishen Zhao; Chaoyu Yang; Kai-Fung Chan; Philip Wai Yan Chiu; Lei Shao; Wenming Zhang; Li Zhang; Qiguang He; Metin Sitti (Proceedings of the National Academy of Sciences, 2026)