leo_nav2d.yaml

dataio:

  dataset_type: nav2d
  srcdir_dataset: /local/datasets/sim

  dataset_name: nav2dtime/dataset_0000 # nav2dfix, nav2dtime
  model_type: varying_cov # fixed_cov (for nav2dfix), varying_cov (for nav2dtime)

options:
  seed: 0

theta_init:

  noisy: False
  sigma_noise: 5

  sigma_inv_odom_vals: [1., 1., 1.]
  sigma_inv_gps_vals: [1., 1., 1.]

  # sigma_sq format
  sigma_inv_odom0_vals: [0.25, 0.25, 0.25]
  sigma_inv_gps0_vals: [1e-2, 1e-2, 0.25]
  sigma_inv_odom1_vals: [1., 1., 1.]
  sigma_inv_gps1_vals: [1e-2, 1e-2, 1e-2]

optim:
  nsteps: 300 # 500
  verbose: False

  save_fig: True
  show_fig: False
  vis_step: False

leo:
  max_iters: 100
  n_data_train: 5 # 30
  n_data_test: 1 # 20
  test_idx_offset: 30

  lr: 1e-1
  lmd: 0.
  l2_wt: 1e-3

  pool_processes: 4
  lr_scheduler: True
  realizability_coeff: 0. # 0: ground truth, 1: fully realizable

  sampler: True
  n_samples: 10
  temp: 1. # high temp -> low cov

  tb_flag: False
  save_video: False

  use_traj_convergence: True
  eps_diff_traj_err_trans: 5e-2
  eps_diff_traj_err_rot: 5e-2
  eps_traj_err_trans: 1e-1
  eps_traj_err_rot: 1e-1

logger:
  enable: False
  save_csv: False

plot:
  colors:
    gt: dimgray
    opt: tab:purple

  labels:
    gt: groundtruth
    odom: odom
    gps: gps
    opt: optimizer
    exp: expert
  
  dstdir: /local/plots/sim

baselines:

  method: Nelder-Mead # Nelder-Mead, BFGS, CMAES
  max_fval_calls: 100