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Sketch alignment method:
Batch size: Trajectories per frame. Bigger looks richer but is slower; collision trajectories are whitened/grayed compared to collision-free ones.
DDIM steps: DP denoising iterations per frame. The paper uses 10; lower is faster but rougher. Changing it is instant.
Unconditional: With “unconditional rollouts” selected, move or click-and-drag the mouse to reposition the red agent and preview rollouts.
Sketch: With a sketch method selected, click-and-drag to draw different guide sketches for the same fixed agent location. The agent stays fixed until you move near the red agent to reactivate it.