#!/bin/bash

# 增强版训练启动脚本 - 复用epoch_19权重

set -e

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

echo "=========================================="
echo "BEVFusion 增强版训练启动"
echo "=========================================="
echo ""
echo "配置: fusion-det-seg-swint-enhanced.yaml"
echo "复用权重: epoch_19.pth"
echo "GPU: 8x V100S"
echo ""
echo "关键改进:"
echo "  ✅ EnhancedBEVSegmentationHead (ASPP+注意力)"
echo "  ✅ Focal Loss修复 (alpha=0.25)"
echo "  ✅ Dice Loss混合"
echo "  ✅ 类别权重平衡"
echo "  ✅ 分割损失权重×5"
echo "  ✅ 学习率降低到1e-4"
echo ""
echo "预期性能:"
echo "  检测mAP: 65-68%"
echo "  分割mIoU: 60-65% (vs当前36%)"
echo ""
echo "开始训练..."
echo "=========================================="

/opt/conda/bin/torchpack dist-run -np 8 /opt/conda/bin/python tools/train.py \
  configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask.yaml \
  --model.encoders.camera.backbone.init_cfg.checkpoint pretrained/swint-nuimages-pretrained.pth \
  --load_from runs/run-326653dc-74184412/epoch_19.pth \
  --model.heads.map.type EnhancedBEVSegmentationHead \
  --model.heads.map.focal_alpha 0.25 \
  --model.heads.map.use_dice_loss True \
  --model.heads.map.deep_supervision True \
  --model.heads.map.loss_weight.stop_line 4.0 \
  --model.heads.map.loss_weight.divider 3.0 \
  --model.heads.map.loss_weight.ped_crossing 3.0 \
  --model.heads.map.loss_weight.walkway 1.5 \
  --model.heads.map.loss_weight.carpark_area 2.0 \
  --model.heads.map.loss_weight.drivable_area 1.0 \
  --model.loss_scale.map 5.0 \
  --optimizer.lr 1.0e-4 \
  --data.workers_per_gpu 0