@article{raflgeneralizablesimtorealofsoftrobotswi,
  title = {RAFL: Generalizable Sim-to-Real of Soft Robots with Residual Acceleration Field Learning},
  author = {Dong Heon Cho and Boyuan Chen},
  year = {2026},
  eprint = {2603.22039},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.22039},
}