We present an approach to identify topological order based on unbiased infinite projected entangled-pair states (iPEPS) simulations, i.e. where we do not impose a virtual symmetry on the tensors during the optimization of the tensor network ansatz. As an example we consider the ground state of the toric code model in a magnetic field exhibiting $Z_2$ topological order. The optimization is done by an efficient energy minimization approach based on a summation of tensor environments to compute the gradient. We show that the optimized tensors, when brought into the right gauge, are approximately $Z_2$ symmetric, and they can be fully symmetrized a posteriori to generate a stable topologically ordered state, yielding the correct topological entanglement entropy and modular S and U matrices. To compute the latter we develop a variant of the corner-transfer matrix method which is computationally more efficient than previous approaches based on the tensor renormalization group.
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