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README.md

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 Welcome to *Soy*, a specialized Mixed-Integer Linear Program (MILP) solver for Piecewise Affine (PWA) dynamics. *Soy* combines logical reasoning, arithmetic reasoning and stocastic local search for efficiently finding a feasible solution to a set of MILP constraints. A special strength of *Soy* is to handle *one-hot constraints* which is crucial for encoding PWA dynamics: ``b1 + .. + bn = 1`` where bi's are binary variables.
 
-The paper describing the system is currently under submission and a preprint is available [here](https://arxiv.org/abs/2303.13697).
+Soy is described in our [IROS'2023 paper](https://arxiv.org/abs/2303.13697). If you find this work useful, consider citing:
+
+```bibtex
+@article{wu2023soy,
+  title={Soy: An Efficient MILP Solver for Piecewise-Affine Systems},
+  author={Wu, Haoze and Wu, Min and Sadigh, Dorsa and Barrett, Clark},
+  journal={arXiv preprint arXiv:2303.13697},
+  year={2023}
+}
+```
 
 
 ## Installation