benchmark

name: ManiSkill

dataset_instantiate_config: target: mappolicy.dataset.maniskill_dataset.ManiskillDataset

evaluator_instantiate_config: target: mappolicy.envs.maniskill_env.ManiSkillEvaluator max_episode_length: 200 image_size: ${image_size} camera_name: ${camera_name} obs_mode: rgb+depth+segmentation control_mode: pd_ee_delta_pose num_points: 1024 num_envs: 10

loss_func: target: mappolicy.loss.wrap.smart_loss_func lambda_map: ${lambda_map} lambda_physical: ${lambda_physical}