#!/bin/bash


# MuJoCo cases
envs[0]="Hopper-v2"
envs[1]="Walker2d-v2"
envs[2]="AntTruncatedObs-v2"
envs[3]="HumanoidTruncatedObs-v2"

# DMC cases
envs[4]="fish-swim"
envs[5]="hopper-hop"
envs[6]="quadruped-run"
envs[7]="cheetah-run"
envs[8]="humanoid-run"
envs[9]="humanoid-stand"
envs[10]="finger-turn_hard"
envs[11]="hopper-stand"

# training (for SAC version of PIToD)
echo start training
for env in ${envs[@]}
do

# with Layer norm for 5 seeds (0 -- 4)
nohup python main-TH.py -info SAC+ToD -env $env -seed 0 -gpu_id 0 -layer_norm 1 -layer_norm_policy 1 >& /dev/null &
nohup python main-TH.py -info SAC+ToD -env $env -seed 1 -gpu_id 1 -layer_norm 1 -layer_norm_policy 1 >& /dev/null &
nohup python main-TH.py -info SAC+ToD -env $env -seed 2 -gpu_id 2 -layer_norm 1 -layer_norm_policy 1 >& /dev/null &
nohup python main-TH.py -info SAC+ToD -env $env -seed 3 -gpu_id 3 -layer_norm 1 -layer_norm_policy 1 >& /dev/null &

wait
done

