#!/usr/bin/env bash
# ACT (lerobot aloha defaults: chunk 100, batch 8) on an ALOHA arm dataset. Usage: train_aloha.sh <gpu> <arm> <steps> [save=20000]
set -euo pipefail
GPU=$1; ARM=$2; STEPS=$3; SAVE=${4:-20000}; SEED=${5:-1000}; JOB=$ARM; [ "$SEED" != "1000" ] && JOB=${ARM}_s${SEED}
export HF_HOME=/workspace/.hf_home CUDA_VISIBLE_DEVICES=$GPU OMP_NUM_THREADS=8 ISR_MEMDECODE=1 PYTHONPATH=/workspace/isr MUJOCO_GL=egl
cd /workspace/isr && source .venv/bin/activate
python -m lerobot.scripts.lerobot_train \
  --dataset.repo_id=local/$ARM --dataset.root=/workspace/isr/datasets/$ARM --dataset.video_backend=pyav \
  --policy.type=act --policy.device=cuda --policy.push_to_hub=false \
  --steps=$STEPS --batch_size=8 --num_workers=8 --seed=$SEED --log_freq=200 --save_freq=$SAVE --save_checkpoint=true \
  --wandb.enable=false --job_name=$JOB --output_dir=/workspace/isr/ckpts/$JOB
echo "TRAIN_DONE $JOB"