Single-GPU Training

🚀 Command templates for training OpenArmX datasets on a single GPU.

0. Common setup

lerobot-env
export HF_HUB_OFFLINE=1
export TRANSFORMERS_OFFLINE=1

1. ACT

lerobot-train \
  --dataset.repo_id=local/your_dataset_name \
  --dataset.root=your_absolute_dataset_path \
  --policy.type=act \
  --policy.push_to_hub=false \
  --output_dir=outputs/your_trained_model_name \
  --batch_size=batch_size \
  --steps=total_steps \
  --log_freq=log_interval \
  --save_freq=save_interval

2. SmolVLA

lerobot-train \
  --dataset.repo_id=local/your_dataset_name \
  --dataset.root=your_absolute_dataset_path \
  --dataset.video_backend=pyav \
  --policy.type=smolvla \
  --policy.path=lerobot/smolvla_base \
  --batch_size=batch_size \
  --steps=total_steps \
  --output_dir=outputs/your_trained_model_name \
  --wandb.enable=false \
  --log_freq=log_interval \
  --save_freq=save_interval

3. Pi0

lerobot-train \
  --dataset.repo_id=local/your_dataset_name \
  --dataset.root=your_absolute_dataset_path \
  --dataset.video_backend=pyav \
  --policy.type=pi0 \
  --policy.pretrained_path=lerobot/pi0_base \
  --policy.dtype=bfloat16 \
  --policy.gradient_checkpointing=false \
  --batch_size=batch_size \
  --steps=total_steps \
  --output_dir=outputs/your_trained_model_name \
  --wandb.enable=false \
  --log_freq=log_interval \
  --save_freq=save_interval

4. Pi0.5

lerobot-train \
  --dataset.repo_id=local/your_dataset_name \
  --dataset.root=your_absolute_dataset_path \
  --dataset.video_backend=pyav \
  --policy.type=pi05 \
  --policy.pretrained_path=lerobot/pi05_base \
  --policy.dtype=bfloat16 \
  --policy.gradient_checkpointing=true \
  --policy.compile_model=true \
  --policy.freeze_vision_encoder=false \
  --policy.train_expert_only=false \
  --policy.device=cuda \
  --batch_size=batch_size \
  --steps=total_steps \
  --output_dir=outputs/your_trained_model_name \
  --wandb.enable=false \
  --log_freq=log_interval \
  --save_freq=save_interval

5. XVLA

lerobot-train \
  --dataset.repo_id=local/your_dataset_name \
  --dataset.root=your_absolute_dataset_path \
  --dataset.video_backend=pyav \
  --job_name=xvla_openarmx \
  --policy.path=lerobot/xvla-base \
  --policy.dtype=bfloat16 \
  --policy.action_mode=auto \
  --policy.device=cuda \
  --policy.freeze_vision_encoder=false \
  --policy.freeze_language_encoder=false \
  --policy.train_policy_transformer=true \
  --policy.train_soft_prompts=true \
  --policy.push_to_hub=false \
  --policy.empty_cameras=0 \
  --policy.num_image_views=3 \
  --rename_map='{"observation.images.cam_head": "observation.images.image", "observation.images.cam_right": "observation.images.image2", "observation.images.cam_left": "observation.images.image3"}' \
  --batch_size=batch_size \
  --steps=total_steps \
  --output_dir=outputs/your_trained_model_name \
  --wandb.enable=false \
  --log_freq=log_interval \
  --save_freq=save_interval

📌 Parameter quick reference

• --batch_size: memory-sensitive key parameter
• --steps: total training steps
• --log_freq: logging interval
• --save_freq: checkpoint interval
• --resume=true: resume from checkpoint