@article{umpnetuniversalmanipulationpolicynetwork,
  title = {UMPNet: Universal Manipulation Policy Network for Articulated Objects},
  author = {Zhenjia Xu and Zhanpeng He and Shuran Song},
  year = {2021},
  eprint = {2109.05668},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.05668v4},
}