Gu, J., Xiang, F., Li, X., Ling, Z., Liu, X., Mu, T., Tang, Y., Tao, S., Wei, X., Yao, Y., Yuan, X., Xie, P., Huang, Z., Chen, R., & Su, H. (2023). ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills [Conference paper]