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mshukor
2025-05-28 21:30:04 +02:00
parent 4719f41a43
commit 97d609feb4
2 changed files with 3 additions and 4 deletions
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5
examples/train_smolvla.sh
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@@ -14,7 +14,7 @@ export WORK=/home/mustafa_shukor
# export DATA_DIR=$WORK/.cache/huggingface/datasets # export DATA_DIR=$WORK/.cache/huggingface/datasets
# export HF_LEROBOT_HOME=$WORK/.cache/huggingface/lerobot # export HF_LEROBOT_HOME=$WORK/.cache/huggingface/lerobot
# export HF_DATASETS_OFFLINE=1 # export HF_DATASETS_OFFLINE=1
# export HF_HUB_OFFLINE=1 # export HF_HUB_OFFLINE=1
# export WANDB_CACHE_DIR=/lustre/fsn1/projects/rech/dyf/ugz83ue/wandb # export WANDB_CACHE_DIR=/lustre/fsn1/projects/rech/dyf/ugz83ue/wandb
@@ -54,5 +54,4 @@ rm -r $TRAIN_DIR
CUDA_VISIBLE_DEVICES=2 python lerobot/scripts/train.py \ CUDA_VISIBLE_DEVICES=2 python lerobot/scripts/train.py \
--policy.type=$POLICY \ --policy.type=$POLICY \
--dataset.repo_id=$REPO_ID \ --dataset.repo_id=$REPO_ID \
--output_dir=$TRAIN_DIR --output_dir=$TRAIN_DIR

2
lerobot/common/policies/smolvla/modeling_smolvla.py
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@@ -352,7 +352,7 @@ class SmolVLAPolicy(PreTrainedPolicy):
) )
# Preprocess image features present in the batch # Preprocess image features present in the batch
for key in present_img_keys: for key in present_img_keys:
img = batch[key][:, i, :, :, :] if batch[key].ndim == 5 else batch[key] img = batch[key][:, -1, :, :, :] if batch[key].ndim == 5 else batch[key]
if self.config.resize_imgs_with_padding is not None: if self.config.resize_imgs_with_padding is not None:
img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0) img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0)