Mittal, M., Yu, C., Yu, Q., Liu, J., Rudin, N., Hoeller, D., Yuan, J. L., Singh, R., Guo, Y., Mazhar, H., Mandlekar, A., Babich, B., State, G., Hutter, M., & Garg, A. (2023). Orbit - A Unified Simulation Framework for Interactive Robot Learning Environments. IEEE Robotics and Automation Letters, 8(6). https://doi.org/10.1109/LRA.2023.3270034