Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent systems. However, due to the lack of autonomous holistic strategies throughout the target shape input, optimal material distribution generation, and fabrication program output, 4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual design. In this study, we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape morphing. By tuning the laser power of each voxel at the nanoscale, the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding process. Using this strategy, the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under stimulation. Furthermore, as a proof-of-concept, a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial environment. This strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting, leading to cutting-edge applications in microfluidics, micro-robotics, minimally invasive robotic surgery, and tissue engineering.

Compound eyes (CEs) that feature ultra-compact structures and extraordinary versatility have revealed great potential for cutting-edge applications. However, the optoelectronic integration of CEs with available photodetectors is still challenging because the planar charge-coupled device (CCD)/complementary metal oxide semiconductor (CMOS) detector cannot match the spatially distributed images formed by CE ommatidia. To reach this end, we report here the optoelectronic integration of CEs by manufacturing 3D nonuniform ommatidia for developing an ultra-compact on-chip camera. As a proof-of-concept, we fabricated microscale CEs with uniform and nonuniform ommatidia through femtosecond laser two-photon photopolymerization, and compared their focusing/imaging performance both theoretically and experimentally. By engineering the surface profiles of the ommatidia at different positions of the CE, the images formed by all the ommatidia can be tuned on a plane. In this way, the nonuniform CE can be directly integrated with a commercial CMOS photodetector, forming an ultra-compact CE camera. Additionally, we further combine the CE camera with a microfluidic chip, which can further serve as an on-chip microscopic monitoring system. We anticipate that such an ultra-compact CE camera may find broad applications in microfluidics, robotics, and micro-optics.