@misc{schaff2022soft,
  title={Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer},
  author={Charles Schaff and Audrey Sedal and Matthew R. Walter},
  year={2022},
  eprint={2202.04575},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2202.04575}
}