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1lerobot-train \
2 --dataset.repo_id=${HF_USER}/<dataset> \
3 --policy.type=act \
4 --output_dir=outputs/train/<desired_policy_repo_id> \
5 --job_name=lerobot_training \
6 --policy.device=cuda \
7 --policy.repo_id=${HF_USER}/<desired_policy_repo_id>
8 --wandb.enable=trueoutputs/train/<desired_policy_repo_id>/checkpoints/.1lerobot-record \
2 --robot.type=so100_follower \
3 --dataset.repo_id=<hf_user>/eval_<dataset> \
4 --policy.path=<hf_user>/<desired_policy_repo_id> \
5 --episodes=10--policy.path pointing to a local or hub checkpoint.