@article{todorov2012,
  title={MuJoCo: A physics engine for model-based control},
  author={Emanuel Todorov and Tom Erez and Yuval Tassa},
  year={2012},
  doi={10.1109/iros.2012.6386109},
  url={https://doi.org/10.1109/iros.2012.6386109}
}