Clarification on XVLA folding checkpoint

[brycegoh]

Hi Lerobot team, great work on the XVLA release!

I have tried finetuning on my custom dataset and have a few clarifications:

1. Is the lerobot/xvla-folding checkpoint finetuned on lerobot/xvla-soft-fold?

   • I am asking this because the info.json don't match (eg. the dataset image keys are observation.images.cam_high whereby the checkpoint image keys are observation.images.image
   • The observation.state shape also do not match

2. How do we finetune from a checkpoint given that the checkpoint expects different naming for the observation keys and state shape? Is this a custom preprocessor to remap keys or is there an arg to use?

Thanks!