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lerobot-train --dataset.repo_id=staudi25/lego_pickup_mega_plus --job_name=xvla_so101_lego_pickup --policy.path=staudi25/xvla_lego_pickup_mega --policy.device=cuda --wandb.enable=false --dataset.image_transforms.enable=true --log_freq=1 --steps=20000 --save_freq=5000 --policy.repo_id=staudi25/xvla_lego_pickup_mega_plus --policy.action_mode=auto --policy.freeze_vision_encoder=false --policy.freeze_language_encoder=false --policy.train_policy_transformer=true --policy.train_soft_prompts=true --policy.dtype=bfloat16 --output_dir=outputs/train/xvla_20k_lego_pickup_mega_plus --rename_map='{"observation.images.desk_cam": "observation.images.image", "observation.images.gripper": "observation.images.image2"}'
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