mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Jade Choghari
60 lines
1.4 KiB
Bash
60 lines
1.4 KiB
Bash
#!/bin/bash
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# config
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REPO_ID=physical-intelligence/libero
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TASK=libero_10
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OUTPUT_DIR=./outputs/train_run/smolvla2_libero
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# clean previous run
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rm -rf $OUTPUT_DIR
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# training params
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STEPS=100000
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BATCH_SIZE=4
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EVAL_FREQ=2000
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SAVE_FREQ=10000
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NUM_WORKERS=0
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# model params
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POLICY=smolvla
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USE_AMP=false
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OPTIMIZER_LR=1e-4
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PEFT_METHOD=lora
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LOAD_VLM_WEIGHTS=true
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VLM_REPO_ID=None
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MAX_ACTION_DIM=32
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MAX_STATE_DIM=32
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# dataset/image params
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USE_IMAGENET_STATS=false
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ENABLE_IMG_TRANSFORM=true
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MAX_NUM_IMAGES=2
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MAX_IMAGE_DIM=1024
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echo -e "\033[1;33m[WARNING]\033[0m LIBERO is not yet fully supported in this PR!"
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# launch
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MUJOCO_GL=egl python src/lerobot/scripts/train.py \
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--policy.type=$POLICY \
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--dataset.repo_id=$REPO_ID \
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--env.type=libero \
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--env.task=$TASK \
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--output_dir=$OUTPUT_DIR \
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--steps=$STEPS \
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--batch_size=$BATCH_SIZE \
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--eval_freq=$EVAL_FREQ \
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--save_freq=$SAVE_FREQ \
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--num_workers=$NUM_WORKERS \
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--policy.max_action_dim=$MAX_ACTION_DIM \
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--policy.max_state_dim=$MAX_STATE_DIM \
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--policy.use_amp=$USE_AMP \
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--policy.optimizer_lr=$OPTIMIZER_LR \
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--policy.peft_method=$PEFT_METHOD \
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--policy.load_vlm_weights=$LOAD_VLM_WEIGHTS \
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--policy.repo_id=$VLM_REPO_ID \
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--dataset.use_imagenet_stats=$USE_IMAGENET_STATS \
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--dataset.image_transforms.enable=$ENABLE_IMG_TRANSFORM \
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--dataset.max_num_images=$MAX_NUM_IMAGES \
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--dataset.max_image_dim=$MAX_IMAGE_DIM \
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# --policy.exclude_image_keys=wrist_image \
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# --policy.use_env_state=false
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