dit_mt_libero_90_pretrain

python ./lerobot_lsy/src/lerobot/scripts/clare.py \
    --seed=1000 \
    --job_name=clare_libero_10_task_0 \
    --output_dir=./outputs/clare_libero_10_task_0 \
    --dataset.repo_id=continuallearning/libero_10_image_task_0 \
    --policy.path=continuallearning/dit_mt_libero_90_pretrain \
    --policy.push_to_hub=false \
    --batch_size=32 \
    --num_workers=16 \
    --steps=20000 \
    --env.type=libero \
    --env.task=Libero_10_Task_0 \
    --eval.batch_size=20 \
    --eval.n_episodes=100 \
    --eval.max_episodes_rendered=100 \
    --eval_freq=200000 \
    --save_freq=20000 \
    --log_freq=100 \
    --peft_cfg_path=./peft_lsy/config \
    --expand_threshold=10.00 \
    --detect_distribution_shift_steps=200 \
    --detect_distribution_shift_batch_size=32 \
    --detect_distribution_shift_num_workers=16 \
    --detect_distribution_shift_log_freq=10 \
    --train_discriminators_steps=2000 \
    --train_discriminators_batch_size=32 \
    --train_discriminators_num_workers=16 \
    --train_discriminators_log_freq=50 \
    --train_discriminators_eval_freq=2000 \
    --train_discriminators_save_freq=2000 \
    --wandb.enable=true