Minigrid & Miniworld: Modular & Customizable Reinforcement Learning Environments for Goal-Oriented Tasks - Chevalier-Boisvert, Maxime; Dai, Bolun; Towers, Mark; Perez-Vicente, Rodrigo; Willems, Lucas; Lahlou, Salem; Pal, Suman; Castro, Pablo Samuel; Terry, J (Advances in Neural Information Processing Systems, 2023)