Training Error KeyError: Column 'actions' not in the dataset when using lerobot v2.1 data #124
Description
When I used the agibot2lerobot tool from an older version of any4lerobot (because I found that the latest any4lerobot generates lerobot v3.0, which is incompatible with this repository) to convert AgiBot data in the example to lerobot v2.1 format and proceeded with training, I encountered the following error:
File "/opt/conda/lib/python3.11/site-packages/datasets/formatting/formatting.py", line 541, in _check_valid_column_key
[rank0]: raise KeyError(f"Column {key} not in the dataset. Current columns in the dataset: {columns}")
[rank0]: KeyError: "Column actions not in the dataset. Current columns in the dataset: ['observation.states.effector.position', 'observation.states.end.orientation', 'observation.states.end.position', 'observation.states.head.position', 'observation.states.joint.current_value', 'observation.states.joint.position', 'observation.states.robot.orientation', 'observation.states.robot.position', 'observation.states.waist.position', 'actions.effector.position', 'actions.end.orientation', 'actions.end.position', 'actions.head.position', 'actions.joint.position', 'actions.robot.velocity', 'actions.waist.position', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index']"
0%| | 0/13200 [00:02<?, ?it/s]
[rank0]:[W1125 20:30:39.168193764 ProcessGroupNCCL.cpp:1496] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())
E1125 20:30:40.437000 297469 site-packages/torch/distributed/elastic/multiprocessing/api.py:869] failed (exitcode: 1) local_rank: 0 (pid: 297517) of binary: /opt/conda/bin/python
I noticed that each conversion tool corresponds to a different version of lerobot. How can I stably convert AgiBot-type data to the lerobot data required by the latest code in this repository?