Does there exist a differentiable function $f:\mathbb R \to \mathbb R^2$ such that $f([0,1])$ has a non-empty interior?

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Does there exist a differentiable function $f:\mathbb R \to \mathbb R^2$ such that $f([0,1])$ has a non-empty interior ? I know that such $f$ doesn't exist if I also assume $f$ is $C^1$ . Please help . Thanks in advance