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Merge branch 'main' into feature/add-multitask-dit

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Bryson Jones
2025-12-14 09:10:48 -08:00
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parent 71f359ca6e 1d07a4aefd
commit e4a1b27fd3
1 changed files with 2 additions and 2 deletions
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docs/source/xvla.mdx
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@@ -130,13 +130,13 @@ lerobot-train \
--policy.path="lerobot/xvla-base" \ --policy.path="lerobot/xvla-base" \
--policy.repo_id="HF_USER/xvla-your-robot" \ --policy.repo_id="HF_USER/xvla-your-robot" \
--policy.dtype=bfloat16 \ --policy.dtype=bfloat16 \
--steps=3000 \ --policy.action_mode=auto \
--steps=20000 \
--policy.device=cuda \ --policy.device=cuda \
--policy.freeze_vision_encoder=false \ --policy.freeze_vision_encoder=false \
--policy.freeze_language_encoder=false \ --policy.freeze_language_encoder=false \
--policy.train_policy_transformer=true \ --policy.train_policy_transformer=true \
--policy.train_soft_prompts=true \ --policy.train_soft_prompts=true \
--policy.action_mode=YOUR_ACTION_MODE
``` ```
### Training Parameters Explained ### Training Parameters Explained