diff --git a/src/lerobot/policies/xvla/configuration_xvla.py b/src/lerobot/policies/xvla/configuration_xvla.py index 059915fd5..3383dde6a 100644 --- a/src/lerobot/policies/xvla/configuration_xvla.py +++ b/src/lerobot/policies/xvla/configuration_xvla.py @@ -129,7 +129,7 @@ class XVLAConfig(PreTrainedConfig): config_dict['vision_config'] = { 'model_type': 'davit', 'drop_path_rate': 0.1, - 'patch_size': [7, 3, 3, 3], + 'patch_size': [14, 7, 7, 7], 'patch_stride': [4, 2, 2, 2], 'patch_padding': [3, 1, 1, 1], 'patch_prenorm': [False, True, True, True], diff --git a/train.sh b/train.sh new file mode 100644 index 000000000..1a9d8371a --- /dev/null +++ b/train.sh @@ -0,0 +1,9 @@ +lerobot-train \ + --dataset.repo_id=lerobot/svla_so101_pickplace \ + --policy.type=xvla \ + --output_dir=outputs/train/act_your_dataset \ + --job_name=xvla_so101_pickplace \ + --policy.device=cuda \ + --wandb.enable=true \ + --policy.repo_id=jadechoghari/xvla_policy \ + --steps=10000