@article{surgesurrogategradientguidedevolutionfor,
  title = {SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity},
  author = {Yulun Zhuang and Yue Qin and Justin Lu and Zelin Shen and Yichen Wang and Sicheng He and Yanran Ding},
  year = {2026},
  eprint = {2606.21866},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.21866},
}