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Danil Belov

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Preprint Oct 2026

WasserMan: Benchmark for Underwater Manipulation Policy Learning

Underwater manipulation couples visual decisions, contact forces and a thruster-controlled floating base. We introduce WasserMan, to our knowledge the first multi-task simulation benchmark for visuomotor learning of floating-base underwater contact manipulation. It provides ten expert-solvable tasks, two vehicle-arm pl...

Danil Belov, Artem Erkhov, Sergei Parsegov et al. · 0 citations

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