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From our early work on 4D printing, where we printed objects, dipped them underwater, and they transform, to our active auxetics that respond to temperature and sunlight, to our more recent work on active textiles that respond to body temperature and change porosity, to our rapid liquid printing work where we print inflatable structures that morph based on air pressure and go from one shape to another, or our self-assembly work where we dip objects underwater, they respond to wave energy and assemble themselves into precise objects like furniture.