#!/usr/bin/env bash
# S10 terrain-v4 50k training from scratch (16 GB recipe).
# Override S10_OUTPUT for a fixed output directory.
set -euo pipefail

PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
cd "$PROJECT_DIR"

export PYTHONPATH="$PROJECT_DIR"
export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
export MUJOCO_GL="${MUJOCO_GL:-egl}"

PY="${S10_PYTHON:-python}"
OUT="${S10_OUTPUT:-logs/s10_terrain_v4_50k_$(date +%Y%m%d_%H%M%S)}"
mkdir -p "$OUT"

exec "$PY" scripts/train.py \
  --task s10-v4 \
  --terrain --terrain-revision 4 --seed 0 \
  --num-envs 4096 --num-steps-per-env 1 \
  --buffer-len 512 --wm-window 8 \
  --wm-batch 2048 --wm-updates 4 \
  --imag-batch 2048 --horizon 32 \
  --warmup 50 --critic-epochs 5 --critic-minibatches 4 \
  --iterations 50000 --save-interval 500 --log-interval 10 \
  --command-curriculum --command-curriculum-start 0 \
  --prioritized-replay \
  --video --video-length 500 --video-interval 2700 \
  --output "$OUT"