export TMPDIR="/home/chao.wu/SmolVLA_RoboTwin2_BPU/cauchy_tmp"
export CUDA_VISIBLE_DEVICES=7  # Lerobot supports only one GPU for training
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

export repo_id="pick_dual_bottles_aloha-agilex_randomized_500"

lerobot-train \
    --policy.type=smolvla \
    --policy.push_to_hub=false \
    --dataset.repo_id=$repo_id \
    --batch_size=32 \
    --output_dir=train_result_$repo_id \
    --steps=1000000 --save_freq=200000 \