diff --git a/source/leisaac/leisaac/tasks/template/bi_arm_env_cfg.py b/source/leisaac/leisaac/tasks/template/bi_arm_env_cfg.py
index 6a07c6ff..ecca9739 100644
--- a/source/leisaac/leisaac/tasks/template/bi_arm_env_cfg.py
+++ b/source/leisaac/leisaac/tasks/template/bi_arm_env_cfg.py
@@ -220,7 +220,7 @@ def preprocess_device_action(self, action: dict[str, Any], teleop_device) -> tor
 
     def build_lerobot_frame(self, episode_data: EpisodeData, dataset_cfg: LeRobotDatasetCfg) -> dict:
         obs_data = episode_data._data["obs"]
-        action = obs_data["actions"][-1]
+        action = episode_data._data["actions"][-1]
         if dataset_cfg.action_align:
             action = action.unsqueeze(0)
             left_arm_action = convert_leisaac_action_to_lerobot(action[:, :6]).squeeze(0)
diff --git a/source/leisaac/leisaac/tasks/template/direct/bi_arm_env.py b/source/leisaac/leisaac/tasks/template/direct/bi_arm_env.py
index 614cdd5f..73f86c59 100644
--- a/source/leisaac/leisaac/tasks/template/direct/bi_arm_env.py
+++ b/source/leisaac/leisaac/tasks/template/direct/bi_arm_env.py
@@ -101,7 +101,7 @@ def preprocess_device_action(self, action: dict[str, Any], teleop_device) -> tor
 
     def build_lerobot_frame(self, episode_data: EpisodeData, dataset_cfg: LeRobotDatasetCfg) -> dict:
         obs_data = episode_data._data["obs"]
-        action = obs_data["actions"][-1]
+        action = episode_data._data["actions"][-1]
         if dataset_cfg.action_align:
             action = action.unsqueeze(0)
             left_arm_action = convert_leisaac_action_to_lerobot(action[:, :6]).squeeze(0)
diff --git a/source/leisaac/leisaac/tasks/template/direct/single_arm_env.py b/source/leisaac/leisaac/tasks/template/direct/single_arm_env.py
index aa7ea7a6..33a29e0e 100644
--- a/source/leisaac/leisaac/tasks/template/direct/single_arm_env.py
+++ b/source/leisaac/leisaac/tasks/template/direct/single_arm_env.py
@@ -91,7 +91,7 @@ def preprocess_device_action(self, action: dict[str, Any], teleop_device) -> tor
 
     def build_lerobot_frame(self, episode_data: EpisodeData, dataset_cfg: LeRobotDatasetCfg) -> dict:
         obs_data = episode_data._data["obs"]
-        action = obs_data["actions"][-1]
+        action = episode_data._data["actions"][-1]
         if dataset_cfg.action_align:
             processed_action = convert_leisaac_action_to_lerobot(action.unsqueeze(0)).squeeze(0)
         else:
diff --git a/source/leisaac/leisaac/tasks/template/lekiwi_env_cfg.py b/source/leisaac/leisaac/tasks/template/lekiwi_env_cfg.py
index f2872e0d..1ba5cd3e 100644
--- a/source/leisaac/leisaac/tasks/template/lekiwi_env_cfg.py
+++ b/source/leisaac/leisaac/tasks/template/lekiwi_env_cfg.py
@@ -218,7 +218,7 @@ def preprocess_device_action(self, action: dict[str, Any], teleop_device) -> tor
 
     def build_lerobot_frame(self, episode_data: EpisodeData, dataset_cfg: LeRobotDatasetCfg) -> dict:
         obs_data = episode_data._data["obs"]
-        action = obs_data["actions"][-1]
+        action = episode_data._data["actions"][-1]
         if dataset_cfg.action_align:
             action = action.unsqueeze(0)
             arm_action = convert_leisaac_action_to_lerobot(action[:, :6]).squeeze(0)
diff --git a/source/leisaac/leisaac/tasks/template/single_arm_env_cfg.py b/source/leisaac/leisaac/tasks/template/single_arm_env_cfg.py
index b11664a3..d337a205 100644
--- a/source/leisaac/leisaac/tasks/template/single_arm_env_cfg.py
+++ b/source/leisaac/leisaac/tasks/template/single_arm_env_cfg.py
@@ -202,7 +202,7 @@ def preprocess_device_action(self, action: dict[str, Any], teleop_device) -> tor
 
     def build_lerobot_frame(self, episode_data: EpisodeData, dataset_cfg: LeRobotDatasetCfg) -> dict:
         obs_data = episode_data._data["obs"]
-        action = obs_data["actions"][-1]
+        action = episode_data._data["actions"][-1]
         if dataset_cfg.action_align:
             processed_action = convert_leisaac_action_to_lerobot(action.unsqueeze(0)).squeeze(0)
         else: