#!/bin/bash

source /home/hegn/miniconda3/bin/activate lerobot

export HF_HUB_OFFLINE=1
export HF_DATASET_OFFLINE=1
export TOKENIZERS_PARALLELISM=false

CUDA_VISIBLE_DEVICES=7 lerobot-train \
    --policy.path=lerobot/smolvla_base \
    --policy.push_to_hub=false \
    --dataset.repo_id=Open24H/dummy_ds \
    --dataset.root=./datasets/pick_toy_compact \
    --dataset.image_transforms.enable=true \
    --batch_size=128 \
    --output_dir=./202501101/pick_toy_compact \
    --steps=20000 --save_freq=2000 2>&1 | tee ./202501101/pick_toy_compact.log