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

NumEnvironments = 2

NumSteps = 600

EveryNumSteps = 5

[[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"