@article{ren2022versatile,
  title={Versatile Control of Fluid-directed Solid Objects Using Multi-task Reinforcement Learning},
  author={Ren, Bo and Ye, Xiaohan and Pan, Zherong and Zhang, Taiyuan},
  journal={ACM Transactions on Graphics},
  volume={42},
  number={2},
  pages={1--14},
  year={2022},
  publisher={ACM New York, NY}
}