@article{xu2021end,
  title={An end-to-end differentiable framework for contact-aware robot design},
  author={Xu, Jie and Chen, Tao and Zlokapa, Lara and Foshey, Michael and Matusik, Wojciech and Sueda, Shinjiro and Agrawal, Pulkit},
  journal={Robotics: Science and Systems},
  year={2021}
}