allow loading high level tasks

examples/dataset/load_lerobot_high.py

@@ -0,0 +1,23 @@
+import torch
+from huggingface_hub import HfApi
+
+import lerobot
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+
+dataset = LeRobotDataset(repo_id="local", root="/fsx/jade_choghari/outputs/pgen_annotations1")
+
+dataloader = torch.utils.data.DataLoader(
+        dataset,
+        num_workers=0,
+        batch_size=32,
+        shuffle=True,
+)
+
+batch = next(iter(dataloader))
+print(batch.keys())
+print(batch['task_index_high_level'].shape)
+print(batch['task_index_high_level'])
+print(batch['user_prompt'][0])
+print(batch['robot_utterance'][0])
+print(batch['task'][0])
+breakpoint()