# 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