Soft robots are machines that can actively control their geometries via elastic deformations. This technology can provide a wide range of opportunities to create machines with unprecedented mechanical functionalities, as well as robots that are intrinsically safe to interact with human beings. However, the potential of this technology has not been fully realized as it is still a great challenge to design, model and control such robots. In this workshop, we aim to offer a forum to discuss about the recent advancements of soft robots across all length scales, as well as to discuss the opportunities and critical challenges of this field. Because research pertaining to soft robotics is generally interdisciplinary in nature, we would include not only roboticists but also biologists and physicists to address these challenges. Having a diverse perspective, our workshop aims to also brainstorm and generate novel methods that can significantly advance the field of soft robotics across length scales.