@misc{bai2025learning,
      title={Learning to Design Soft Hands using Reward Models}, 
      author={Xueqian Bai and Nicklas Hansen and Adabhav Singh and Michael T. Tolley and Yan Duan and Pieter Abbeel and Xiaolong Wang and Sha Yi},
      year={2025},
      eprint={2510.17086},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
}