@article{zhu2020robosuite,
  title={robosuite: A modular simulation framework and benchmark for robot learning},
  author={Zhu, Yuke and Wong, Josiah and Mandlekar, Ajay and Mart{\'\i}n-Mart{\'\i}n, Roberto},
  journal={arXiv preprint arXiv:2009.12293},
  year={2020}
}