#!/bin/bash

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

echo "========================================================================"
echo "Phase 4A: BEV 2x训练启动"
echo "========================================================================"

# 检查checkpoint
if [ ! -f "runs/enhanced_from_epoch19/epoch_23.pth" ]; then
    echo "❌ epoch_23.pth不存在"
    exit 1
fi

echo "✅ 准备就绪"
echo ""
echo "配置信息:"
echo "  - BEV分辨率: 0.15m (2x提升)"
echo "  - Decoder: [256, 256, 128, 128] (4层)"
echo "  - GPU: 6张"
echo "  - Epochs: 20"
echo "  - 预计时间: 12.5天"
echo ""

nohup torchpack dist-run -np 6 python tools/train.py \
    configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a.yaml \
    --model.encoders.camera.backbone.init_cfg.checkpoint=pretrained/swint-nuimages-pretrained.pth \
    --load_from runs/enhanced_from_epoch19/epoch_23.pth \
    --run-dir runs/phase4a_bev2x \
    > phase4a_bev2x.log 2>&1 &

echo "✅ 训练已启动，PID: $!"
echo "日志: phase4a_bev2x.log"
echo "监控: ./monitor_phase4a.sh"