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@@ -138,31 +138,6 @@ Inference:
IK → joint targets → robot
```
## Manual mode (without derive_state_from_action)
If your dataset already has `observation.state` (or you want to add it separately), you can skip `derive_state_from_action` and use relative actions + relative state independently:
```bash
# Recompute stats
lerobot-edit-dataset \
--repo_id <your_dataset> \
--operation.type recompute_stats \
--operation.relative_action true \
--operation.relative_state true \
--operation.state_obs_steps 2 \
--operation.chunk_size 50 \
--operation.relative_exclude_joints "['gripper']"
# Train
lerobot-train \
--dataset.repo_id=<your_dataset> \
--policy.type=pi0 \
--policy.use_relative_actions=true \
--policy.use_relative_state=true \
--policy.state_obs_steps=2 \
--policy.relative_exclude_joints='["gripper"]'
```
## References
- [UMI: Universal Manipulation Interface](https://umi-gripper.github.io) — Chi et al., 2024. Defines relative trajectory actions.