eval_single.toml

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EvalDir = "${CoverageControl_ws}/lpac/eval/" # Absolute location
EnvironmentConfig = "${CoverageControl_ws}/lpac/params/coverage_control_params.toml" # Absolute location
 
EnvironmentDataDir = "${CoverageControl_ws}/lpac/envs/" # Absolute location
FeatureFile = "0.env" # Relative to EnvironmentDataDir
RobotPosFile = "0.pos" # Relative to EnvironmentDataDir
 
NumSteps = 600
 
PlotMap = true
GenerateVideo = false # Will generate a video for each controller
 
[[Controllers]]
Name = "lpac"
Type = "Learning"
# ModelFile: "~/CoverageControl_ws/datsets/lpac/models/model_k3_1024.pt"
ModelStateDict = "${CoverageControl_ws}/lpac/models/model_k3_1024_state_dict.pt"
LearningParams = "${CoverageControl_ws}/lpac/params/learning_params.toml"
UseCommMap = true
UseCNN = true
CNNMapSize = 32
 
[[Controllers]]
Name = "DecentralizedCVT" # Creates a subdirectory with this name
Algorithm = "DecentralizedCVT"
Type = "CVT"
 
[[Controllers]]
Name = "ClairvoyantCVT"
Algorithm = "ClairvoyantCVT"
Type = "CVT"
 
[[Controllers]]
Name = "CentralizedCVT"
Algorithm = "CentralizedCVT"
Type = "CVT"