# DART-style perturbed demonstrations, merged after another profile:
#   PHASE2_PROFILE=baseline,dart
# In a share of episodes the executed approach drifts off-centre by a random sideways offset
# and returns to the plan during the descent, while the recorded actions stay the clean
# plan (Expert.perturb_pick). The policy then sees off-centre states labelled with the
# centred path, which the unperturbed teacher never shows: in its demonstrations the hand
# always starts the descent exactly centred and goes straight down, so the action near the
# piece can be predicted from the joint state alone (sim/reports/replan_test).

[dataset]
repo_id = "local/so101_chess_baseline_dart"
root = "data/so101_chess_baseline_dart"

[expert]
dart_probability = 0.5                 # share of episodes perturbed
dart_radius_mm = [2.0, 10.0]           # offset size, uniform, any direction (the baseline policy's
                                       # error 40 mm above the piece: ~4 mm in successes, ~8 mm in failures)
dart_clear_mm = 4.0                    # back on the plan this far above the target's top
dart_return_s = [0.3, 0.8]             # the return takes this long (uniform), so off-centre states reach different heights
dart_tries = 4                         # offsets drawn before running the episode unperturbed