| # The paper's settings for Table 3 (D3IL avoiding-v0). | |
| SEED=0 | |
| TRAIN_STEPS=500000 # what the paper reports; DiRecT/train.py defaults to 1,000,001 | |
| TRAIN_BATCH=32 | |
| REPEAT=100 # evaluation episodes per method | |
| CP=10 # checkpoint index: model_ema_<CP>.pth | |
| STEPS=32 # sampling steps (the long-schedule methods override to 256) | |
| STEPS_LONG=256 | |
| REPLAN=4 # replan every REPLAN executed steps | |
| MARGIN=0.025 # obstacle margin | |
| HARD=1 # 12 constraints: the three keep-outs upstream ships commented out | |