WasserMan documentation¶

Build and extend the simulation benchmark for underwater manipulation. Ten demonstrated environments include nine with learned-policy evaluations. The shared six-task protocol compares ACT, DP and chunked BC; the SmolVLA study covers three tasks. All results retain their declared contracts.

Get started¶

1. Install WasserMan.
2. Load and step an environment.
3. Choose a task.
4. Collect demonstrations.

Use and reproduce¶

• Train a reference policy.
• Run the complete source workflow.
• Read the frozen evaluation protocol.
• Compare recorded results.
• Inspect data and model availability.
• Understand observations and action interfaces.

Configure and extend¶

• Configure robots, controllers and physics.
• Read physical-model assumptions.
• Add a task, robot or controller, or policy.
• Troubleshoot.

The code and documentation live in separate repositories. Protocols, runtime references and scientific summaries are bundled with the code; the full internal research archive is not part of installation. Precomputed canonical training packages are not included in 0.1.0; generate data and train with the source workflow.