#!/bin/bash
set -e
cd /data/cameron/para/libero
CKPT=/data/cameron/para/libero/checkpoints/libero_2view_augtoken_v0/latest.pth
LOG_DIR=/data/cameron/para/libero/logs/augtoken_eval
mkdir -p $LOG_DIR
declare -a CELLS=(
    " 0    0    indist_default 0"
    "14   45    indist_left    1"
    "10  180    OOD_back       2"
    "14  225    OOD_backleft   3"
)
for cell in "${CELLS[@]}"; do
    read -r TH PH LABEL GPU <<< "$cell"
    (PYTHONPATH=/data/cameron/LIBERO LIBERO_DATA_PATH=/data/libero CUDA_VISIBLE_DEVICES=$GPU \
    DINO_REPO_DIR=/data/cameron/keygrip/dinov3 \
    DINO_WEIGHTS_PATH=/data/cameron/keygrip/dinov3/weights/dinov3_vits16plus_pretrain_lvd1689m-4057cbaa.pth \
    MUJOCO_GL=osmesa PYOPENGL_PLATFORM=osmesa \
    python eval_libero_2view_ood.py --checkpoint $CKPT --n_episodes 10 --max_steps 600 \
        --teleport --zero_rotation --clean_scene --cam_theta $TH --cam_phi $PH \
        > $LOG_DIR/th${TH}_ph${PH}_${LABEL}.log 2>&1) &
done
wait
echo "=== augtoken eval ==="
for cell in "${CELLS[@]}"; do
    read -r TH PH LABEL GPU <<< "$cell"
    SR=$(grep "Success Rate" $LOG_DIR/th${TH}_ph${PH}_${LABEL}.log 2>/dev/null | head -1 | sed 's/.*Success Rate: //')
    echo "  th=$TH ph=$PH ($LABEL): $SR"
done