@article{anendtoenddifferentiableframeworkfor,
  title = {An End-to-End Differentiable Framework for Contact-Aware Robot Design},
  author = {Jie Xu and Tao Chen and Lara Zlokapa and Michael Foshey and Wojciech Matusik and Shinjiro Sueda and Pulkit Agrawal},
  year = {2021},
  eprint = {2107.07501},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.07501v2},
}