export CUDA_VISIBLE_DEVICES=3  # Lerobot supports only one GPU for training
# export HF_HUB_OFFLINE=1
export TOKENIZERS_PARALLELISM=false
export XDG_CACHE_HOME=/home/chao.wu/SmolVLA_RoboTwin2_BPU

export https_proxy=http://192.168.16.68:18000
export http_proxy=http://192.168.16.68:18000

lerobot-train \
    --policy.type=smolvla \
    --policy.push_to_hub=false \
    --dataset.repo_id=adjust_bottle_aloha-agilex_clean_50_image \
    --batch_size=32 \
    --output_dir=train_result_aloha-agilex_clean_50_adjust_bottle_image \
    --steps=100000 --save_freq=20000 \
    --log_freq=100