From a4b1bf92f16853a9235c1c3a30d9b9d0a0cb57b2 Mon Sep 17 00:00:00 2001
From: Karl Pertsch <karl@physicalintelligence.company>
Date: Fri, 28 Feb 2025 15:24:32 +0000
Subject: [PATCH] revert libero delta action change

---
 src/openpi/training/config.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/src/openpi/training/config.py b/src/openpi/training/config.py
index 3b9dfb9..164d59b 100644
--- a/src/openpi/training/config.py
+++ b/src/openpi/training/config.py
@@ -302,11 +302,13 @@ class LeRobotLiberoDataConfig(DataConfigFactory):
         # apply a separate delta conversion (that's why it's commented out). Choose whether to apply this
         # transform based on whether your dataset uses ``absolute`` or ``delta`` actions out of the box.
 
-        # delta_action_mask = _transforms.make_bool_mask(6, -1)
-        # data_transforms = data_transforms.push(
-        #     inputs=[_transforms.DeltaActions(delta_action_mask)],
-        #     outputs=[_transforms.AbsoluteActions(delta_action_mask)],
-        # )
+        # TODO(karl): comment this out once we have updated the Libero checkpoints to not use
+        # the delta action transform
+        delta_action_mask = _transforms.make_bool_mask(6, -1)
+        data_transforms = data_transforms.push(
+            inputs=[_transforms.DeltaActions(delta_action_mask)],
+            outputs=[_transforms.AbsoluteActions(delta_action_mask)],
+        )
 
         # Model transforms include things like tokenizing the prompt and action targets
         # You do not need to change anything here for your own dataset.