#!/bin/bash
#
# Pretrain one XIRL/TCC encoder per MimicGen task, then export goal/subgoal pickles.
# Dataset layout:
#   experiments/datasets/mimicgen/train/{lift,stack}/<episode>/*.png
#   experiments/datasets/mimicgen/valid/{lift,stack}/<episode>/*.png
set -euo pipefail

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

DATA_ROOT="${REPO_ROOT}/experiments/datasets/mimicgen/"
RUN_ROOT="${REPO_ROOT}/experiments/pretrain_runs/"
CONFIG="configs/xmagical/pretraining/tcc.py"
DEVICE="${DEVICE:-cuda:0}"
FRESH="${FRESH:-0}"
TASKS=("lift" "stack")

for task in "${TASKS[@]}"; do
  EXP_NAME="dataset=mimicgen_algo=xirl_task=${task}"
  EXP_DIR="${RUN_ROOT}/${EXP_NAME}"
  RESUME_FLAG=()

  if [[ "${FRESH}" == "1" && -d "${EXP_DIR}" ]]; then
    echo "FRESH=1: removing existing run ${EXP_DIR}"
    rm -rf "${EXP_DIR}"
  elif [[ -d "${EXP_DIR}" ]]; then
    echo "Existing run found for ${task}; resuming from checkpoint."
    RESUME_FLAG=(--resume)
  fi

  echo "========================================"
  echo "Pretraining task: ${task}"
  echo "========================================"

  python pretrain.py \
    --experiment_name="${EXP_NAME}" \
    --config="${CONFIG}" \
    --config.data.root="${DATA_ROOT}" \
    --config.root_dir="${RUN_ROOT}" \
    --config.data.pretrain_action_class="('${task}',)" \
    --config.data.downstream_action_class="('${task}',)" \
    --config.data.max_vids_per_class=-1 \
    --device="${DEVICE}" \
    "${RESUME_FLAG[@]}"

  echo "Exporting goal/subgoal embeddings for ${task}..."
  python compute_subgoal_embedding.py \
    --experiment_path="${EXP_DIR}"

  echo "Finished ${task}."
  echo "  checkpoints: ${EXP_DIR}/checkpoints/"
  echo "  subgoals:    ${EXP_DIR}/subgoals_emb.pkl"
done

echo "All tasks finished."