@article{megaversesimulatingembodiedagentsatone,
  title = {Megaverse: Simulating Embodied Agents at One Million Experiences per Second},
  author = {Aleksei Petrenko and Erik Wijmans and Brennan Shacklett and Vladlen Koltun},
  year = {2021},
  eprint = {2107.08170},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.08170v2},
}