(a) Photographs of a robot targeting an LED-indicated path. The targeting demonstration shows the accuracy that the robot control can achieve. (b) Comparison of the measured relative noise level of a soft macro robot and a battery-powered, similarly sized toy boat. RSPL denotes to the relative sound pressure level. The robot exhibits a much lower noise level compared to the toy boat. (c) Photographs of a cold robot moving in warm water taken by an infrared video camera and a normal camera, respectively.