Fine-tuning scripts don't work with trossen_subversion 1.0

[lisayan]

System Info

  File "/home/ubuntu/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/dataclasses.py", line 1246, in fields
    raise TypeError('must be called with a dataclass type or instance') from None
TypeError: must be called with a dataclass type or instance

Information

• One of the scripts in the examples/ folder of LeRobot
• My own task or dataset (give details below)

Reproduction

1. Collect data with "codebase_version": "v2.1", "trossen_subversion": "v1.0".
2. Run fine-tuning e.g. XLA_PYTHON_CLIENT_MEM_FRACTION=0.9 uv run scripts/train.py pi0_widowx_ai_carrot --exp-name=pickup_carrot --overwrite
3. Issue will display with data format

We are trying to fine-tune pi0 on data collected on our Trossen WidowX AI bimanual setup, but it was collected with this new Trossen subversion that changed the format of the data https://docs.trossenrobotics.com/trossen_arm/main/tutorials/lerobot/changelog.html#trossen-v1-0-dataset-format.

This is incompatible with the rest of Trossen's fine-tuning training tutorial and causes a lot of package and compiling errors. I figured out that if I fine-tuned on your old example without the subversion, it works correctly https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_stationary_handover_cube/tree/main.

Would you happen to have a script that does the reverse of this one and converts data from v21 trossen_subversion1.0 to just v21? https://github.com/Interbotix/lerobot/blob/970a4a5e0642befe3aaaddff55bc4baa8a39dc32/lerobot/scripts/convert_dataset_v21_to_v21_t10.py

We've been trying so hard to debug this fine-tuning process and trying different version solutions, we think this is the simplest!

Expected behavior

Fine-tuning should run successfully. We tried this on your example data without subversion and it works fine.