About how to set config for v2.1 and v3.0 LeRobotDataset, especially the key value of state and action

[Dalei-Jiang]

Hi, we are taking use of lerobot v2.1 datasets and v3.0 datasets. I am wondering how to set the "action" and "state" keys in the config file, cause in v2.0, simply setting "state":"observation.state" and "action":"action" solve the problem, but the observation.state and action are divided into several columns in parquet files in v2.1 and later version, such as "observation.states.head.position", "observation.states.joint.current_value", etc.

Obviously delivering a list or a tuple containing all column names needed to "state" and "obvservation.state" cannot compact the columns into two. So how to set these two values here for codebase version higher than v2.0? Or we need to set "observation.states.head.position":"observation.states.head.position", "observation.states.joint.current_value":"observation.states.joint.current_value"... and combine these columns some where else in the code? In issue #18 it is mentioned that the code is developed based on LeRobotDataset v2.0, so does v2.1 and v3.0 available?

[ModiShi]

You can modify the data loading logic to concatenate the multiple state/action columns.