test_config.yaml

model_path: "mlp_epoch=19_val_loss=0.003130.ckpt"  # Saved checkpoint/config stem from training

dataset:  # Test dataset selection
  desired_trajectories: 1
  test_path: datasets/hover_dataset_test.npz

trajectory_plotter: false  # Plot the first trajectory after evaluation
sensitivity_analysis: true  # Evaluate the whole test set instead of a single random subset

dataloader:  # Test-time loader settings
  batch_size: 1
  num_workers: 8
  pin_memory: false
  drop_last: true

ablation:  # Automated feature ablation suite
  enabled: true
  fill_value: 0.0
  feature_sets:
    position: [dx, dy, dz]
    velocity: [vx, vy, vz]
    attitude: [phi, theta, psi]
    angular_rate: [p, q, r]
    disturbance: [Mx_ext, My_ext, Mz_ext]
    rotor_speed: [omega]