Supporting selection of obs and action keys in dataset

[Mayankm96]

Hi all, thanks a lot for the framework.

Currently, it seems the LeRobotDataset format requires users to have a fixed state/environment state/images or actions defined in their dataset. However, this means that for multiple similar applications, the user has to record different datasets with different state or action definitions.

Is it possible to select certain keys from the state or actions similar to how we can do in robomimic?

https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/config/default_templates/bc_transformer.json#L107-L113

[tlpss]

I would also love this flexibility.

I opened a related issue a while ago: #266. I'm linking it here for convenience.

Should not be too hard to do I believe, but at the time too many refactoring was going on. @aliberts, would now be a good time to work on this?

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This issue has been automatically marked as stale because it has not had recent activity (6 months). It will be closed if no further activity occurs. Thank you for your contributions.

[github-actions[bot]]

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