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Soft SF is much less a defined subgenre than its counterpart, hard science fiction. It is sometimes used in a pejorative fashion when it is implied a given science fiction story is not rigorous enough in its application of science or is not 'proper' science fiction. Soft science fiction is also used as a synonym for New Wave science fiction.
Ray Bradbury is a good example of a Soft SF writer. In his short stories collected in R is for Rocket and The Martian Chronicles he takescommon themes in Hard SF, like rocket travel or Mars colonies but focuses on the feelings evoked by these themes.
Compare: hard science fiction, space opera, comic science fiction, social fiction