Privacy-Preserving Active Learning for bio-inspired soft robotics maintenance with embodied agent feedback loops Introduction: A Lesson From a Leaky Tentacle Last year I spent three weeks in a small robotics lab trying to keep a pneumatic soft gripper alive. The gripper was a beautiful thing — a silicone tentacle with embedded fiber-optic strain sensors, modeled loosely on an octopus arm. It could pick up a tomato without bruising it. It could also, apparently, fail catastrophic...