#!/bin/bash

source /nvme_data/zhiyuanma/miniconda3/bin/activate rlvla

# 切换到工作目录

cd SimplerEnv

# 定义变量

unnorm_key="bridge_orig"

vla_load_path="../SimplerEnv/wandb/run-20250614_062442-cert5non/glob/steps_389"

# 遍历种子和环境 ID

for seed in 0 1 2; do

for env_id in \

"PutOnPlateInScene25VisionImage-v1" \

"PutOnPlateInScene25VisionTexture03-v1" \

"PutOnPlateInScene25VisionTexture05-v1" \

"PutOnPlateInScene25VisionWhole03-v1" \

"PutOnPlateInScene25VisionWhole05-v1" \

"PutOnPlateInScene25Carrot-v1" \

"PutOnPlateInScene25Plate-v1" \

"PutOnPlateInScene25Instruct-v1" \

"PutOnPlateInScene25MultiCarrot-v1" \

"PutOnPlateInScene25MultiPlate-v1" \

"PutOnPlateInScene25Position-v1" \

"PutOnPlateInScene25EEPose-v1" \

"PutOnPlateInScene25PositionChangeTo-v1"; do

ckpt_path="../openvla/checkpoints/warmup/steps_2000/merged_002000"

CUDA_VISIBLE_DEVICES=$cuda XLA_PYTHON_CLIENT_PREALLOCATE=false \

python simpler_env/train_ms3_ppo.py \

--vla_path="${ckpt_path}" \

--vla_unnorm_key="${unnorm_key}" \

--vla_load_path="${vla_load_path}" \

--env_id="${env_id}" \

--seed=${seed} \

--buffer_inferbatch=64 \

--no_wandb \

--only_render

done

done