| {"action_alignment_version": 2, "transition_keys": ["action", "raw_outer_action", "expanded_action", "lowerbody_action", "leg_joint_targets", "torso_target", "lowerbody_command", "height_command", "reward", "event_progress", "discount", "demo", "is_expert"], "doc": "Frame k pairs the frame's observation with the transition executed FROM it (source npz index k+1) for every transition_keys feature; the final frame repeats the last real transition and source index 0 lives in episode_init_states.json first_transition. Datasets without this file are v1: features stored at source index k verbatim (one-frame hindsight misalignment for standard LeRobot consumers)."} |