Derivation of action fields in libero_pi0_all

[polinazhang]

Hi authors,

Could you please clarify how you derived the action fields in libero_pi0_all? I tried to reconstruct them from states, but adding either AddAction or AddAction+DeltaAction in the config didn't work.

I also noticed there's a script/convert_data/convert_lerobot_to_dexdata.py script, but it drops the action field entirely. Could you please also clarify what script/pipeline you used to obtain the libero_pi0_all dataset?

Thanks a lot 🙏

[yuzhms]

For libero_pi0_all, the action field is taken directly from the original LIBERO dataset’s action key. It is not reconstructed from states, and there is no deterministic mapping between the state field and the action field in this dataset.