#!/usr/bin/env bash
set -euo pipefail

ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
cd "$ROOT_DIR"

DEBUG_ROOT="${DOVLA_DEBUG_ROOT:-outputs/phase5_train_debug}"
DATASET_DIR="$DEBUG_ROOT/cil"
CHECKPOINT="$DEBUG_ROOT/run/best.pt"
OUT_PATH="${DOVLA_INFERENCE_OUT:-outputs/phase5_inference/inference.json}"

if [[ ! -f "$CHECKPOINT" || ! -f "$DATASET_DIR/manifest.json" ]]; then
  DOVLA_DEBUG_ROOT="$DEBUG_ROOT" bash scripts/run_train_debug.sh
fi

python scripts/infer_toy_policy.py \
  --dataset "$DATASET_DIR" \
  --checkpoint "$CHECKPOINT" \
  --out "$OUT_PATH" \
  --device "${DOVLA_DEVICE:-auto}"

echo "inference output: $OUT_PATH"