diff --git a/.github/workflows/merge_stage_test.yml b/.github/workflows/merge_stage_test.yml
index 432d4b0..3ce9c3e 100644
--- a/.github/workflows/merge_stage_test.yml
+++ b/.github/workflows/merge_stage_test.yml
@@ -17,10 +17,10 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build_cu116:
-    runs-on: ubuntu-22.04
+  build_cu113:
+    runs-on: ubuntu-18.04
     container:
-      image: pytorch/pytorch:1.13.0-cuda11.6-cudnn8-devel
+      image: pytorch/pytorch:1.11.0-cuda11.3-cudnn8-devel
     strategy:
       matrix:
         python-version: [3.7]
@@ -37,38 +37,9 @@ jobs:
           apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
           apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
       - name: Install system dependencies
-        run: apt-get update && apt-get install -y git ffmpeg libturbojpeg
+        run: apt-get update && apt-get install -y git ffmpeg libturbojpeg libc6
       - name: Install dependencies and EmbodiedScan
-        run: python install.py all
-      - name: Run unittests and generate coverage report
-        run: |
-          coverage run --branch --source embodiedscan -m pytest tests
-          coverage xml
-          coverage report -m
-
-  build_cu117:
-    runs-on: ubuntu-22.04
-    container:
-      image: pytorch/pytorch:2.0.0-cuda11.7-cudnn8-devel
-    strategy:
-      matrix:
-        python-version: [3.9]
-    steps:
-      - uses: actions/checkout@v3
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v4
-        with:
-          python-version: ${{ matrix.python-version }}
-      - name: Upgrade pip
-        run: pip install pip --upgrade && pip install wheel
-      - name: Fetch GPG keys
-        run: |
-          apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
-          apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
-      - name: Install system dependencies
-        run: apt-get update && apt-get install -y git ffmpeg libturbojpeg
-      - name: Install dependencies and EmbodiedScan
-        run: python install.py all
+        run: python install.py run
       - name: Run unittests and generate coverage report
         run: |
           coverage run --branch --source embodiedscan -m pytest tests
diff --git a/.github/workflows/pr_stage_test.yml b/.github/workflows/pr_stage_test.yml
index ed033b6..a475932 100644
--- a/.github/workflows/pr_stage_test.yml
+++ b/.github/workflows/pr_stage_test.yml
@@ -13,13 +13,13 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build_cu117:
-    runs-on: ubuntu-22.04
+  build_cu113:
+    runs-on: ubuntu-18.04
     container:
-      image: pytorch/pytorch:2.0.0-cuda11.7-cudnn8-devel
+      image: pytorch/pytorch:1.11.0-cuda11.3-cudnn8-devel
     strategy:
       matrix:
-        python-version: [3.9]
+        python-version: [3.7]
     steps:
       - uses: actions/checkout@v3
       - name: Set up Python ${{ matrix.python-version }}
@@ -33,11 +33,11 @@ jobs:
           apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
           apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
       - name: Install system dependencies
-        run: apt-get update && apt-get install -y ffmpeg libsm6 libxext6 git ninja-build libglib2.0-0 libsm6 libxrender-dev libxext6
+        run: apt-get update && apt-get install -y ffmpeg libsm6 libxext6 git ninja-build libglib2.0-0 libsm6 libxrender-dev libxext6 libc6
       - name: Install dependencies and EmbodiedScan
-        run: python install.py all
+        run: python install.py run
       - name: Run unittests and generate coverage report
         run: |
-          coverage run --branch --source embodiedscan -m pytest tests/
+          coverage run --branch --source embodiedscan -m pytest tests
           coverage xml
           coverage report -m
diff --git a/README.md b/README.md
index 457f3c1..0a860b7 100644
--- a/README.md
+++ b/README.md
@@ -24,7 +24,6 @@
   </p>
 </p>
 
-
 <!-- <p align="center">
   <a href="https://arxiv.org/abs/2312.16170" target='_blank'>
     <img src="https://img.shields.io/badge/arXiv-2312.16170-blue?">
@@ -38,13 +37,12 @@
 </p> -->
 
 <div id="top" align="center">
-  
-[![arXiv](https://img.shields.io/badge/arXiv-2312.16170-blue?)](https://arxiv.org/abs/2312.16170)
-[![](https://img.shields.io/badge/Paper-📖-blue?)](./assets/EmbodiedScan.pdf)
-[![](https://img.shields.io/badge/Project-&#x1F680-blue)](https://tai-wang.github.io/embodiedscan)
 
-</div>
+[![arXiv](https://img.shields.io/badge/arXiv-2312.16170-blue)](https://arxiv.org/abs/2312.16170)
+[![](https://img.shields.io/badge/Paper-%F0%9F%93%96-blue)](./assets/EmbodiedScan.pdf)
+[![](https://img.shields.io/badge/Project-%F0%9F%9A%80-blue)](https://tai-wang.github.io/embodiedscan)
 
+</div>
 
 ## 🤖 [Demo](https://tai-wang.github.io/embodiedscan)
 
diff --git a/install.py b/install.py
index 41bcfd1..536e11a 100644
--- a/install.py
+++ b/install.py
@@ -84,6 +84,12 @@ def install_package(line):
         links = mmcv_links()
         run_subprocess(
             [sys.executable, '-m', 'pip', 'install', line, '-f', links])
+    elif package_name == 'MinkowskiEngine':
+        run_subprocess([sys.executable, '-m', 'pip', 'install', 'ninja'])
+        run_subprocess([
+            sys.executable, '-m', 'pip', 'install', '-U',
+            'git+https://github.com/NVIDIA/MinkowskiEngine', '--no-deps'
+        ])  # noqa: E501
     else:
         run_subprocess([sys.executable, '-m', 'pip', 'install', line])