#!/bin/bash
# Run 4 separate RL experiments (one per pretrained visual encoder).
# Each run trains a single task to 2M steps with demo subgoals only (vgen disabled).
#
# Experiments:
#   1. Lift  + mixed 75/25 encoder
#   2. Lift  + simonly 35/15 encoder
#   3. Stack + mixed 75/25 encoder
#   4. Stack + simonly 35/15 encoder
#
# Usage:
#   ./train_all_encoder_ablations.sh
#   START_FROM=2 ./train_all_encoder_ablations.sh   # skip first 2 runs
#   RUN_ONLY=3 ./train_all_encoder_ablations.sh     # run only the 3rd experiment

set -euo pipefail
cd "$(dirname "$0")"

SEED="${SEED:-0}"
DEVICE="${DEVICE:-cuda:0}"
START_FROM="${START_FROM:-1}"
RUN_ONLY="${RUN_ONLY:-}"
PRETRAIN_ROOT="${PRETRAIN_ROOT:-/home/lei/Documents/tong/irl4idm/multi-task-tcc-robosuite/experiments/pretrain_runs}"

run_single_experiment() {
  local idx="$1"
  local env_name="$2"
  local exp_name="$3"
  local encoder_path="$4"
  local resume_flag=()
  local ckpt_dir="rl_runs/${exp_name}/${SEED}/checkpoints"

  if [[ -n "${RUN_ONLY}" && "${idx}" != "${RUN_ONLY}" ]]; then
    return 0
  fi
  if [[ -z "${RUN_ONLY}" && "${idx}" -lt "${START_FROM}" ]]; then
    echo "Skipping experiment ${idx} (${exp_name}) due to START_FROM=${START_FROM}"
    return 0
  fi

  if compgen -G "${ckpt_dir}/*.ckpt" > /dev/null; then
    resume_flag=(--resume)
    echo "Found checkpoint in ${ckpt_dir}; resuming."
  fi

  echo ""
  echo "=========================================="
  echo " Experiment ${idx}/4: ${env_name}"
  echo " RL run: rl_runs/${exp_name}/${SEED}"
  echo " Encoder: ${encoder_path}"
  echo " TensorBoard: tensorboard --logdir rl_runs/${exp_name}/${SEED}/tb"
  echo "=========================================="
  echo ""

  python train_policy.py \
    --experiment_name="${exp_name}" \
    --env_name="${env_name}" \
    --config="configs/robosuite/rl/env_reward.py:${env_name}" \
    --config.reward_wrapper.pretrained_path="${encoder_path}" \
    --config.reward_wrapper.type=distance_to_goal \
    --config.threshold_for_vgen=1.1 \
    --seed="${SEED}" \
    --device="${DEVICE}" \
    "${resume_flag[@]}"
}

run_single_experiment 1 Lift lift_rl_mixed_75 \
  "${PRETRAIN_ROOT}/dataset=mimicgen_algo=xirl_task=lift"

run_single_experiment 2 Lift lift_rl_simonly_35_15 \
  "${PRETRAIN_ROOT}/dataset=mimicgen_algo=xirl_task=lift_simonly_35_15"

run_single_experiment 3 Stack stack_rl_mixed_75 \
  "${PRETRAIN_ROOT}/dataset=mimicgen_algo=xirl_task=stack"

run_single_experiment 4 Stack stack_rl_simonly_35_15 \
  "${PRETRAIN_ROOT}/dataset=mimicgen_algo=xirl_task=stack_simonly_35_15"

echo ""
echo "Done: all requested encoder ablation runs complete."
echo "Results:"
echo "  rl_runs/lift_rl_mixed_75/${SEED}"
echo "  rl_runs/lift_rl_simonly_35_15/${SEED}"
echo "  rl_runs/stack_rl_mixed_75/${SEED}"
echo "  rl_runs/stack_rl_simonly_35_15/${SEED}"