#!/bin/bash
# 多任务训练启动脚本

set -e

export PATH=/opt/conda/bin:$PATH
cd /workspace/bevfusion

echo "=========================================="
echo "BEVFusion 多任务训练"
echo "任务: 3D目标检测 + BEV地图分割"
echo "=========================================="
echo ""
echo "配置信息："
echo "  GPU数量: 8x Tesla V100S (32GB)"
echo "  配置文件: configs/nuscenes/multitask/fusion-det-seg-swint.yaml"
echo "  预训练模型:"
echo "    - Camera: pretrained/swint-nuimages-pretrained.pth"
echo "    - LiDAR: pretrained/lidar-only-det.pth"
echo ""
echo "预计训练时间: 28-32小时"
echo "预期性能:"
echo "  - 检测: mAP ~67-69%, NDS ~70-71%"
echo "  - 分割: mIoU ~61-62%"
echo ""
echo "=========================================="
echo ""
echo "开始训练..."
echo ""

torchpack dist-run -np 8 python tools/train.py \
  configs/nuscenes/multitask/fusion-det-seg-swint.yaml \
  --model.encoders.camera.backbone.init_cfg.checkpoint pretrained/swint-nuimages-pretrained.pth \
  --load_from pretrained/lidar-only-det.pth

echo ""
echo "=========================================="
echo "训练完成！"
echo "=========================================="