Citing SoRoMoX¶

Primary Paper¶

If you use SoRoMoX in academic work, please cite the associated preprint:

@misc{stolzle2026soromox,
  title = {{SoRoMoX}: Fast, Differentiable, and Parallelizable Soft Robot Models},
  author = {Maximilian St{\"o}lzle and Solange Gribonval and Daniel {Feliu-Talegon} and Vito Daniele Perfetta and Michele Martini and Chuhan Zhang and Kiwan Wong and Mohammed Tarnini and Anup Teejo Mathew and Federico Renda and Daniela Rus and Cosimo {Della Santina}},
  year = {2026},
  eprint = {2608.06650},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  doi = {10.48550/arXiv.2608.06650},
  url = {https://arxiv.org/abs/2608.06650},
}

The latest preprint is available at arXiv:2608.06650.

Reproducibility and Software Version¶

When SoRoMoX generates results reported in a publication, also state the exact package version. It is available at runtime as:

import soromox

print(soromox.__version__)

If reproducibility depends materially on a particular release, we encourage an additional software citation for that release:

@software{soromox_v0_2_2,
  title = {{SoRoMoX}: Soft Robot Models in {JAX}},
  author = {Maximilian St{\"o}lzle and Solange Gribonval and Daniel {Feliu-Talegon} and Vito Daniele Perfetta and Michele Martini and Chuhan Zhang and Kiwan Wong and Daniela Rus and Cosimo {Della Santina}},
  year = {2026},
  version = {0.2.2},
  url = {https://github.com/tud-phi/soromox/releases/tag/v0.2.2},
}

Use the entry associated with the version that produced the results rather than substituting the newest release.

Additional Model and Method Citations¶

These references are conditional: cite them when the corresponding model or controller implementation is material to the work.

Planar HSA Model¶

For the kinematic and dynamic model of the planar Handed Shearing Auxetics robot, also cite:

@inproceedings{stolzle2024experimental,
  title = {An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots},
  author = {Maximilian St{\"o}lzle and Daniela Rus and Cosimo {Della Santina}},
  booktitle = {Experimental Robotics: The 18th International Symposium},
  series = {Springer Proceedings in Advanced Robotics},
  volume = {30},
  pages = {153--167},
  publisher = {Springer},
  year = {2024},
  doi = {10.1007/978-3-031-63596-0_14},
}

Model-Based Controllers¶

If the controller formulations or implementation details described in Chapter 2 of the following thesis are material to the work, also cite:

@phdthesis{stolzle2025phdthesis,
  title = {Safe yet Precise Soft Robots: Incorporating Physics into Learned Models for Control},
  author = {Maximilian St{\"o}lzle},
  year = {2025},
  type = {Dissertation},
  school = {Delft University of Technology},
  doi = {10.4233/uuid:24c1f667-8fd6-431a-bb78-11d22f8cb3da},
  isbn = {978-94-6384-836-7},
}

Citation and License¶

The citation guidance above is a scholarly request. SoRoMoX is distributed under the MIT License; redistribution requirements are defined by LICENSE.txt.