add changes

examples/5_train_libero.sh

@@ -1,9 +1,9 @@
 #!/bin/bash
 
 # config
-REPO_ID=physical-intelligence/libero
+REPO_ID=yzembodied/libero_10_image_task_1
 TASK=libero_10
-OUTPUT_DIR=./outputs/train_run/smolvla2_libero
+OUTPUT_DIR=./outputs/
 
 # clean previous run
 rm -rf $OUTPUT_DIR
@@ -11,7 +11,7 @@ rm -rf $OUTPUT_DIR
 # training params
 STEPS=100000
 BATCH_SIZE=4
-EVAL_FREQ=2000
+EVAL_FREQ=1
 SAVE_FREQ=10000
 NUM_WORKERS=0
 
@@ -33,7 +33,8 @@ MAX_IMAGE_DIM=1024
 
 echo -e "\033[1;33m[WARNING]\033[0m LIBERO is not yet fully supported in this PR!"
 # launch
-MUJOCO_GL=egl python src/lerobot/scripts/train.py \
+PYTORCH_ENABLE_MPS_FALLBACK=1 DEVICE=cpu python src/lerobot/scripts/train.py \
+  --policy.device=cpu \
   --policy.type=$POLICY \
   --dataset.repo_id=$REPO_ID \
   --env.type=libero \
@@ -48,12 +49,7 @@ MUJOCO_GL=egl python src/lerobot/scripts/train.py \
   --policy.max_state_dim=$MAX_STATE_DIM \
   --policy.use_amp=$USE_AMP \
   --policy.optimizer_lr=$OPTIMIZER_LR \
-  --policy.peft_method=$PEFT_METHOD \
   --policy.load_vlm_weights=$LOAD_VLM_WEIGHTS \
   --policy.repo_id=$VLM_REPO_ID \
-  --dataset.use_imagenet_stats=$USE_IMAGENET_STATS \
-  --dataset.image_transforms.enable=$ENABLE_IMG_TRANSFORM \
-  --dataset.max_num_images=$MAX_NUM_IMAGES \
-  --dataset.max_image_dim=$MAX_IMAGE_DIM \
-  # --policy.exclude_image_keys=wrist_image \
-  # --policy.use_env_state=false
+  --env.multitask_eval=False \
+  --eval.batch_size=1 \