Submitted Manuscript: Confidential template updated January 2022

General instructions on using this template and submitting a manuscript to

Science Robotics

Use this template to speed the processing of your paper and the completion of the manuscript’s
record in our system. Our goal is to automatically identify and extract title, authors, abstract, and
other component parts of your paper and to enrich it with reference links and an accurate layout.

If you are using LaTeX, please convert your paper into a Word docx. If this is not possible, please
use our LaTeX template and guidelines (available here) and upload a PDF version of your paper.
Some conversion approaches are available here: http://www.tug.org/utilities/texconv/textopc.html

Please use the actual template starting on the next page, which includes more specific formatting
instructions.

You can submit your paper at http://cts.sciencemag.org/. Additional instructions are available at
https://www.science.org/content/page/scirobotics-instructions-research-articles

So that we can extract parts of your paper (even if you do not use this template), begin each section
with the specific words listed below, some of which are followed by a colon. Do not use paragraph
breaks in the title, author list, or abstract. The author list, corresponding author email(s), and
affiliation(s) should be checked carefully because they will be published as listed in the
manuscript.

Title: No more than 100 characters and spaces, lacking jargon, punctuation (apart from commas)
and abbreviations where possible.
Authors:
Affiliations:
Abstract: 250 words or less.
One Sentence Summary: No more than 125 characters and spaces.
Main Text:
References and Notes: Only a single numbered list should be provided for all references cited in
the main text and in the supplementary materials. Please include the title of the article in the
reference.
Acknowledgments: Split into general, Funding, Author contributions, Competing interests, and
Data and materials availability, as described in the template below.
Supplementary Materials: Include a list, noting which references are only cited in the SM.
Fig. #. (Begin each figure caption with a label, “Fig. 1.”, for example, as a new paragraph.)
Table #. (Begin each table caption with a label “Table 1.”, for example, as a new paragraph.)

Please use the .docx format (all versions after Word 2007 for PC and Word 2011 for Mac) and
include page numbers in your submitted file. We also encourage use of line numbers.
Supplementary Materials (comprising Materials and Methods, figures, and tables) should be in a
separate file.

When you are ready to submit, please delete this page with all its contents.

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Title: Full titles can be a maximum of 100 characters

Authors:
Example: F. M. Lastname,1* S. I. Lastname,1,2 T. I. Lastname3†

Authors should be listed in order of contribution to the paper by given name or initial, then
middle initial (if any), followed by family name. Author names should be separated by
commas. The author list should be one single paragraph with no line breaks.

Affiliations:
1
Each affiliation should be preceded by superscript numbers corresponding to the author
list, and each affiliation should end with a period. A semicolon should be used to separate
an institution from its address. We do not require a full mailing address, only city and
country, for each institution.
2
Each affiliation should be a separate paragraph.
3
For large groups, use the name of the group or consortium and include a full list of the
authors and affiliations at the end of the main manuscript or in the Supplementary
Materials.

*Corresponding author. Email: include the email address(es) of the corresponding

author(s). Please use the asterisk (*) symbol to denote the corresponding author in the
author list and prior to the email address following the affiliations.

Use symbols (in this order: *,†, ‡, §, ¶, #, **, ††, ‡‡, etc.) for author notes such as present
addresses, “These authors contributed equally to this work” notations, and similar
information. Please do not add author footnotes for professional titles (e.g., “Author is a
Howard Hughes Medical Institute Investigator”) or data contacts (e.g., “Requests for
materials should be sent to this author”). Such information should go in the
Acknowledgments note.

Abstract: The abstract should be a single paragraph of about 200 words (and no more than 250
words) written in plain language that a general reader can understand. It should include an
opening sentence that states the question/problem addressed by the research, enough background
content to give context to the study, a brief statement of primary results, then a short concluding
sentence. Units of measure should be written out in full, except for °C. Do not include citations or
undefined abbreviations in the abstract. Any abbreviations that appear in the title should be
defined in the abstract.

One-Sentence Summary: Provide a one-sentence summary (containing no more than 125

characters and spaces) capturing the most important point of the paper.

Main Text:

INTRODUCTION
The manuscript should start with a brief introduction that lays out the problem addressed
by the research and describes the paper’s importance. The scientific question or
engineering challenge being investigated should be described in detail. The introduction
should provide sufficient background information to make the article understandable to

Science Robotics Manuscript Template Page 2 of 6

 readers in other disciplines and provide enough context to ensure that the implications of
the experimental findings are clear.

RESULTS
The results should describe the experiments performed and the findings observed. The
Results section should be divided into subsections to delineate different experimental
themes. All data must be shown either in the main text or in the Supplementary Materials.

All data should be presented in the Results. No data should be presented for the first time
in the Discussion. Data (such as from materials tests or simulation results) should be
appropriately quantified. Please provide details for all error bars and uncertainties reported
in your work. Specifically, please ensure the relevant figure captions include a description
of how the errors were calculated.

Subheadings should be brief, ideally less than 10 words. Subheadings should not end in a
period. Your paper may have as many subheadings as are necessary. Up to three levels of
subheadings may be used if warranted (bold and all capital letters for level one, bold and
for level two, and bold and italic for level three).

Figures and tables must be cited in numerical order (as, for example, “Fig. 1” and “Table
1”). For example, the first mention of any panel of Fig. 3 cannot precede the first mention
of all panels of Fig. 2. The supplementary figures (for example, fig. S1) and tables (table
S1) must also be called out in numerical order.

References should be cited in parentheses with an italic number (1). Multiple reference
citations are separated by commas (2, 3) or if a series, en dashes (4–6). References are
cited in order by where they first are called out, through the text, text boxes, figure and
table captions, reference notes and acknowledgments, and then the supplementary
materials.

Display equations (set on their own line) can be included. Use MathType (recommended)
or use the legacy equation editor in Word (Chose Insert > Insert Object > Word Equation).
We do not recommend using the native Word equation editor. This can in some cases
produce less reliable MathML, the online markup language we use, which may result in
display errors. If you enter equations in simple LaTeX, check that they will convert
accurately (Word 2007 and higher can convert simple LaTeX equations). Display
equations do not have to be numbered, but if they are numbered place the number at the
right—(1), (2), etc. The same guidelines apply to mathematical expressions within a
sentence of text (e.g., inline equations).

DISCUSSION
Include a discussion that summarizes (but does not merely repeat) your conclusions and
elaborates on their implications. There should be a paragraph outlining the limitations of
your results and interpretation, as well as a discussion of the steps that need to be taken for
the findings to be applied. Priority claims are not allowed in Science Robotics Research
Articles.

MATERIALS AND METHODS

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 The materials and methods section should provide sufficient information to allow
replication of the results. Begin with a section describing the objectives and design of the
study as well as prespecified components. Under exceptional circumstances, when a
particularly lengthy description is required, a portion of the materials and methods can be
included in the Supplementary Materials.

In addition, include a section at the end that fully describes the statistical methods with
enough detail to enable a knowledgeable reader with access to the original data to verify
the results. The values for N, P, and the specific statistical test performed for each
experiment should be included in the appropriate figure legend or main text.

Supplementary Materials
List the titles of the Supplementary Materials in the following order: Supplementary materials and
methods (if necessary), supplementary figures, supplementary tables, then other supplementary
files such as movies, data, interactive images, or database files. Be sure to submit all
Supplementary Materials with the manuscript.
Materials and Methods
Fig. S1 or Figs. S1 to Sx for multiple supplementary figures
Table S1 or Tables S1 to Sx for multiple supplementary tablesData file S1 or Data files S1 to
Sx for multiple supplementary data files
Movie S1 or Movies S1 to Sx for multiple supplementary movies

References and Notes

1. There is only one reference list for all sources cited in the main text, figure and table
legends, and supplementary materials. Do not include a second reference list in the
supplementary materials section. References cited only in the supplementary materials
section are not counted toward length guidelines.
2. Each reference should have a separate number and should be on a separate line ending in a
period. For details of correct reference style, with examples, see
https://www.science.org/content/page/scirobotics-instructions-research-articles.
Example: A. Person, B. Being, Article title: Then subheading. Credible Journal
#Volume, #pg–#pg (#Year). doi:#here
3. You can use an automatically numbered list in MS Word. The reference list should be in
the order in which references are cited: first through the main text, then through figure and
table captions, and last through Supplementary Materials.
4. Please do not include any extraneous language such as explanatory notes as part of a
reference to a given source. Science Robotics requires that manuscripts do not include end
notes; if information is important enough to include, please put into main text.

Acknowledgments: Acknowledgments follow the references and notes list but are not numbered.
Start with text that acknowledges non-author contributions and then complete each of the sections
below as separate paragraphs.

Funding: Include all funding sources, including grant numbers, complete funding agency
names, and recipient’s initials. Each funding source should be listed in a separate
paragraph.
Examples:
National Institutes of Health grant U12AB123456 (PV, CHO)
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 National Institutes of Health grant R01AB123456 (PV, GS)
William K. Bowes Jr Foundation (PV)
German Research Foundation grant AB 1234/1-1
Office of Biological and Environmental Research of the U.S. Department of Energy
Atmospheric System Research Program Interagency Agreement grant DE-SC0000001
National Institute of Health Research UK
UK-China Research and Innovation Partnership Fund through the Met Office Climate
Science for Service Partnership (CSSP) China as part of the Newton Fund

Author contributions: Each author’s contribution(s) to the paper should be listed [we
encourage you to follow the CRediT model]. Each CRediT role should have its own line,
and there should not be any punctuation in the initials.
Examples:
Conceptualization: SBB, DLA, MPW
Methodology: HP, FTGS, CW, JRK, NJB, PRB, JLS, EH
Investigation: SBB, DLA, MPW, WCB
Visualization: SFB, MJM, JLS, EH
Funding acquisition: SJE, MJM, JLS, EH
Project administration: JLS, EH
Supervision: SJE, MJM, JLS, EH
Writing – original draft: SBB, DLA, WCB, JLS, EH
Writing – review & editing: SBB, DLA, PRB, JLS, EH

Competing interests: Include any financial interests of the authors (including but not
limited to financial holdings, professional affiliations, advisory positions, and board
memberships) that could be perceived as being a conflict of interest. Also include any
awarded or filed patents pertaining to the results presented in the paper. When authors
have no competing interests, this should also be declared (e.g., “Authors declare that they
have no competing interests.”).

Data and materials availability: All data, code, and materials used in the analysis must
be available in some form to any researcher for purposes of reproducing or extending the
analysis. Include a note explaining any restrictions on materials, such as materials transfer
agreements (MTAs). Note accession numbers to any data relating to the paper and
deposited in a public database; include a brief description of the data set or model with the
number. If all data are in the paper and supplementary materials, include the sentence “All
data are available in the main text or the supplementary materials.” See
http://www.sciencemag.org/about/authors https://www.science.org/content/page/science-
journals-editorial-policies for details and approved databases.

Figures:
You can embed your figures with their captions within the Word file, after the
acknowledgments. You can also insert figure captions within the main text, close to the
first citation of each figure. Figure captions should have the following format:

Fig. 1. Short title of the first figure. The figure caption should begin with a title (an
overall description of the figure, in boldface) followed by additional text. Each
legend should be placed immediately after its corresponding figure. The primary
callout of each figure part is indicated with a bold capital letter enclosed in
parentheses [e.g., (A)]. Additional callouts are indicated the same way, but without

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 the bold format. If you prefer, you can place both figures and captions logically
throughout the text near where they are cited rather than at the end of the file (but
not both). If a paragraph in the main text begins with the name of a figure, write
out “Figure” in full (e.g., <para>“Figure 1 shows….”)
Fig. 2. Short title of the second figure. Please do not use text boxes to arrange figures.
High-resolution (preferably editable PDF or Adobe Illustrator format) figure files
will be requested following review.
Tables:
Table 1. Short title of the first table. Start table legends with a title (short description of
the table).
Tables should supplement, not duplicate, the text. They should be cited within the text and
numbered in the order of their citation in the text. Each table should be preceded by a
caption that starts with a short boldface title beginning with (for example) Table 1. Every
vertical column should have a heading, followed by a unit of measure (if any) in
parentheses. Units should not change within a column. Centered headings of the body of
the table can be used to break the entries into groups. Footnotes should contain
information relevant to specific cells of the table; use the following symbols in order, as
needed:*, †, ‡, §, ǁ, ¶, #, **, ††, etc. (Don’t use footnotes in column heads; include any
such details in sentence form in the table caption.)

Format tables using the Word Table commands and structures. Do not use spaces or tabs to
create tables.

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