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

ROOT="/workspace/Ctrl-World-Graph"
cd "${ROOT}"

mkdir -p logs eval_rollout_60s_query

MAX_OUTPUT_FRAMES="${MAX_OUTPUT_FRAMES:-300}"
START_FRAME_OFFSET="${START_FRAME_OFFSET:-0}"
VAL_SAMPLE_INDEX="${VAL_SAMPLE_INDEX:-0}"

launch_one() {
  local gpu="$1"
  local tag="$2"
  local ckpt="$3"
  local out_dir="eval_rollout_60s_query/${tag}"
  local log_path="logs/rollout_60s_${tag}_gpu${gpu}.log"
  local pid_path="logs/rollout_60s_${tag}_gpu${gpu}.pid"

  CUDA_VISIBLE_DEVICES="${gpu}" setsid nohup python -u scripts/rollout_graph_episode.py \
    --ckpt-path "${ckpt}" \
    --out-dir "${out_dir}" \
    --val-sample-index "${VAL_SAMPLE_INDEX}" \
    --start-frame-offset "${START_FRAME_OFFSET}" \
    --max-output-frames "${MAX_OUTPUT_FRAMES}" \
    --save-fps 5 \
    --rollout-mode ar \
    > "${log_path}" 2>&1 &

  echo "$!" > "${pid_path}"
  echo "launched ${tag} 60s AR rollout on gpu ${gpu}: pid=$(cat "${pid_path}") log=${log_path}"
}

launch_one 0 gps_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr/checkpoint-100000.pt
launch_one 1 gine_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr_gine_query/checkpoint-100000.pt
launch_one 2 gatv2_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr_gatv2_query/checkpoint-100000.pt
launch_one 3 transformer_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr_transformer_query/checkpoint-100000.pt
launch_one 4 edge_transformer_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr_edge_transformer_query/checkpoint-100000.pt
launch_one 5 hybrid_gine_transformer_query \
  model_ckpt/ctrl_world_graph_5hz_histcorr_hybrid_gine_transformer_query/checkpoint-100000.pt