# Round-Table Low
# python -m src.train.vas \
#     base_policy.wandb_id=flare-robot/furniturebench_bc/93bghu4o \
#     base_policy.wt_type=best_success_rate \
#     env.task=round_table \
#     env.randomness=low \
#     num_env_steps=1000 \
#     num_envs=1024 \
#     n_iterations_train_only_value=0 \
#     checkpoint_interval=-1 \
#     update_epochs=5 \
#     sigma=0.0 \
#     eta=1.0 \
#     anneal_lr=true \
#     debug=false

# One-Leg Med
# python -m src.train.vas \
#     base_policy.wandb_id=flare-robot/furniturebench_bc/sq3wyuo0 \
#     base_policy.wt_type=best_success_rate \
#     env.task=one_leg \
#     env.randomness=med \
#     gpu_id=2 \
#     num_env_steps=700 \
#     num_envs=1024 \
#     n_iterations_train_only_value=0 \
#     checkpoint_interval=-1 \
#     update_epochs=5 \
#     sigma=0.0 \
#     eta=1.0 \
#     anneal_lr=true \
#     debug=false

# Round-Table Med
# python -m src.train.vas \
#     base_policy.wandb_id=flare-robot/furniturebench_bc/epvd0jei \
#     base_policy.wt_type=best_success_rate \
#     env.task=round_table \
#     env.randomness=med \
#     gpu_id=2 \
#     num_env_steps=1000 \
#     num_envs=1024 \
#     n_iterations_train_only_value=0 \
#     checkpoint_interval=-1 \
#     update_epochs=5 \
#     sigma=0.0 \
#     eta=1.0 \
#     anneal_lr=true \
#     debug=false

# Factory Peg Hole Low
# python -m src.train.vas \
#     base_policy.wandb_id=flare-robot/furniturebench_bc/8ytx5s4e \
#     base_policy.wt_type=best_success_rate \
#     env.task=factory_peg_hole \
#     env.randomness=low \
#     gpu_id=1 \
#     num_env_steps=400 \
#     num_envs=1024 \
#     n_iterations_train_only_value=0 \
#     checkpoint_interval=-1 \
#     update_epochs=5 \
#     sigma=0.0 \
#     eta=1.0 \
#     anneal_lr=true \
#     debug=false

# Lamp Med
python -m src.train.vas \
    base_policy.wandb_id=flare-robot/furniturebench_bc/87oprbug \
    base_policy.wt_type=best_success_rate \
    env.task=lamp \
    env.randomness=med \
    gpu_id=1 \
    num_env_steps=1000 \
    num_envs=1024 \
    n_iterations_train_only_value=0 \
    checkpoint_interval=-1 \
    update_epochs=5 \
    sigma=0.0 \
    eta=1.0 \
    anneal_lr=true \
    debug=false

# - `one_leg`: 700
# - `lamp`: 1000
# - `round_table`: 1000
# - `mug_rack`: 400
# - `peg_hole`: 400
