diff --git a/lerobot/common/datasets/utils.py b/lerobot/common/datasets/utils.py
index 581b3c1da..a16fe8acd 100644
--- a/lerobot/common/datasets/utils.py
+++ b/lerobot/common/datasets/utils.py
@@ -461,7 +461,7 @@ def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFea
             type = FeatureType.ENV
         elif key.startswith("observation"):
             type = FeatureType.STATE
-        elif key == "action":
+        elif key.startswith("action"):
             type = FeatureType.ACTION
         else:
             continue