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fix(RGB <-> camera): renaming camera_encoder to rgb_encoder for clarity

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This commit is contained in:
CarolinePascal
2026-06-23 11:28:13 +02:00
parent 8f939767ca
commit 2167731b2c
23 changed files with 170 additions and 158 deletions
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docs/source/earthrover_mini_plus.mdx
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@@ -194,7 +194,7 @@ lerobot-record \
--dataset.single_task="Navigate around obstacles" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--display_data=true
```
docs/source/groot.mdx
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@@ -124,7 +124,7 @@ lerobot-rollout\
--dataset.single_task="Grab and handover the red cube to the other arm" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--policy.path=<user>/groot-bimanual \ # your trained model
--duration=600
```
docs/source/hope_jr.mdx
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@@ -232,7 +232,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--display_data=true
```
@@ -278,6 +278,6 @@ lerobot-record \
--dataset.num_episodes=10 \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--policy.path=outputs/train/hopejr_hand/checkpoints/last/pretrained_model
```
docs/source/il_robots.mdx
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@@ -207,7 +207,7 @@ lerobot-record \
--dataset.num_episodes=5 \
--dataset.single_task="Grab the black cube" \
--dataset.streaming_encoding=true \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--dataset.encoder_threads=2
```
</hfoption>
docs/source/lerobot-dataset-v3.mdx
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@@ -44,7 +44,7 @@ lerobot-record \
--dataset.num_episodes=5 \
--dataset.single_task="Grab the black cube" \
--dataset.streaming_encoding=true \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--dataset.encoder_threads=2
```
docs/source/reachy2.mdx
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@@ -161,7 +161,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--display_data=true
```
@@ -203,7 +203,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder.vcodec=auto \
# --dataset.rgb_encoder.vcodec=auto \
--display_data=true
```
docs/source/streaming_video_encoding.mdx
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@@ -17,7 +17,7 @@ This makes `save_episode()` near-instant (the video is already encoded by the ti
| Parameter | CLI Flag | Type | Default | Description |
| ----------------------- | --------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
| `streaming_encoding` | `--dataset.streaming_encoding` | `bool` | `True` | Enable real-time encoding during capture |
| `vcodec` | `--dataset.camera_encoder.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
| `vcodec` | `--dataset.rgb_encoder.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
| `encoder_threads` | `--dataset.encoder_threads` | `int \| None` | `None` (auto) | Threads per encoder instance. `None` will leave the vcoded decide |
| `encoder_queue_maxsize` | `--dataset.encoder_queue_maxsize` | `int` | `30` | Max buffered frames per camera (~1s at 30fps). Consumes RAM |
@@ -82,15 +82,15 @@ Use HW encoding when:
### Available HW Encoders
| Encoder | Platform | Hardware | CLI Value |
| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | --------------------------------------------------- |
| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=h264_videotoolbox` |
| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=hevc_videotoolbox` |
| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=h264_nvenc` |
| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=hevc_nvenc` |
| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.camera_encoder.vcodec=h264_vaapi` |
| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.camera_encoder.vcodec=h264_qsv` |
| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.camera_encoder.vcodec=auto` |
| Encoder | Platform | Hardware | CLI Value |
| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | ------------------------------------------------ |
| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.rgb_encoder.vcodec=h264_videotoolbox` |
| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.rgb_encoder.vcodec=hevc_videotoolbox` |
| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.rgb_encoder.vcodec=h264_nvenc` |
| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.rgb_encoder.vcodec=hevc_nvenc` |
| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.rgb_encoder.vcodec=h264_vaapi` |
| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.rgb_encoder.vcodec=h264_qsv` |
| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.rgb_encoder.vcodec=auto` |
> [!NOTE]
> In order to use the HW accelerated encoders you might need to upgrade your GPU drivers.
@@ -100,15 +100,15 @@ Use HW encoding when:
## 5. Troubleshooting
| Symptom | Likely Cause | Fix |
| ------------------------------------------------------------------ | -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage) | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.camera_encoder.vcodec=auto`) |
| "Encoder queue full" warnings or dropped frames in dataset | Encoder can't keep up (Queue overflow) | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.camera_encoder.vcodec=auto`). |
| High RAM usage | Queue filling faster than encoding | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding |
| Large video files | Using HW encoder or H.264 | Expected trade-off. Switch to `libsvtav1` if CPU allows |
| `save_episode()` still slow | `streaming_encoding` is `False` | Set `--dataset.streaming_encoding=true` |
| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.camera_encoder.vcodec=auto` |
| Recorded dataset is missing frames | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected. |
| Symptom | Likely Cause | Fix |
| ------------------------------------------------------------------ | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage) | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.rgb_encoder.vcodec=auto`) |
| "Encoder queue full" warnings or dropped frames in dataset | Encoder can't keep up (Queue overflow) | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.rgb_encoder.vcodec=auto`). |
| High RAM usage | Queue filling faster than encoding | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding |
| Large video files | Using HW encoder or H.264 | Expected trade-off. Switch to `libsvtav1` if CPU allows |
| `save_episode()` still slow | `streaming_encoding` is `False` | Set `--dataset.streaming_encoding=true` |
| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.rgb_encoder.vcodec=auto` |
| Recorded dataset is missing frames | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected. |
## 6. Recommended Configurations
@@ -146,7 +146,7 @@ On very constrained systems, streaming encoding may compete too heavily with the
# 2camsx 640x480x3 @30fps: Requires some tuning.
# Use H.264, disable streaming, consider batching encoding
lerobot-record --dataset.camera_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
lerobot-record --dataset.rgb_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
```
## 7. Closing note
docs/source/using_dataset_tools.mdx
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@@ -118,10 +118,10 @@ lerobot-edit-dataset \
--repo_id lerobot/pusht_image \
--operation.type convert_image_to_video \
--operation.output_dir outputs/pusht_video \
--operation.camera_encoder.vcodec libsvtav1 \
--operation.camera_encoder.pix_fmt yuv420p \
--operation.camera_encoder.g 2 \
--operation.camera_encoder.crf 30
--operation.rgb_encoder.vcodec libsvtav1 \
--operation.rgb_encoder.pix_fmt yuv420p \
--operation.rgb_encoder.g 2 \
--operation.rgb_encoder.crf 30
# Convert a dataset that includes depth maps, customizing the depth encoder
lerobot-edit-dataset \
@@ -157,37 +157,37 @@ lerobot-edit-dataset \
**Parameters:**
- `output_dir`: Custom output directory (optional - by default uses `new_repo_id` or `{repo_id}_video`)
- `camera_encoder`: Video encoder settings applied to RGB cameras — all sub-fields accessible via `--operation.camera_encoder.<field>`. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
- `rgb_encoder`: Video encoder settings applied to RGB cameras — all sub-fields accessible via `--operation.rgb_encoder.<field>`. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
- `depth_encoder`: Video encoder settings applied to depth-map cameras (e.g. from an Intel RealSense). In addition to the standard encoder fields it exposes the depth quantization knobs (`depth_min`, `depth_max`, `shift`, `use_log`), accessible via `--operation.depth_encoder.<field>`. These quantization settings are persisted to the dataset metadata so depth can be dequantized back to physical units on load. See the [Depth streams](./video_encoding_parameters#depth-streams) section for details.
- `episode_indices`: List of specific episodes to convert (default: all episodes)
- `num_workers`: Number of parallel workers for processing (default: 4)
**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). Depth-map cameras are detected automatically and routed to the `depth_encoder`, while RGB cameras use the `camera_encoder`. All episodes, stats, and tasks are preserved.
**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). Depth-map cameras are detected automatically and routed to the `depth_encoder`, while RGB cameras use the `rgb_encoder`. All episodes, stats, and tasks are preserved.
#### Re-encode Videos
Re-encode the videos of an existing video dataset with different encoder settings, without going back to raw frames. RGB videos use the `camera_encoder` and depth videos use the `depth_encoder`. Provide only the encoder(s) you want to re-encode; the other stream type is left untouched.
Re-encode the videos of an existing video dataset with different encoder settings, without going back to raw frames. RGB videos use the `rgb_encoder` and depth videos use the `depth_encoder`. Provide only the encoder(s) you want to re-encode; the other stream type is left untouched.
```bash
# Re-encode all RGB videos with new settings (saves to lerobot/pusht_reencoded by default)
lerobot-edit-dataset \
--repo_id lerobot/pusht \
--operation.type reencode_videos \
--operation.camera_encoder.vcodec h264 \
--operation.camera_encoder.pix_fmt yuv420p \
--operation.camera_encoder.crf 23
--operation.rgb_encoder.vcodec h264 \
--operation.rgb_encoder.pix_fmt yuv420p \
--operation.rgb_encoder.crf 23
# Re-encode both RGB and depth videos in a dataset with depth maps
lerobot-edit-dataset \
--repo_id lerobot/pusht_depth \
--operation.type reencode_videos \
--operation.camera_encoder.vcodec libx264 \
--operation.rgb_encoder.vcodec libx264 \
--operation.depth_encoder.vcodec ffv1
```
**Parameters:**
- `camera_encoder`: Encoder settings applied to every RGB video. Omit to skip re-encoding RGB videos.
- `rgb_encoder`: Encoder settings applied to every RGB video. Omit to skip re-encoding RGB videos.
- `depth_encoder`: Encoder settings applied to every depth video. Omit to skip re-encoding depth videos.
- `num_workers`: Number of parallel workers for processing.
docs/source/video_encoding_parameters.mdx
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@@ -2,15 +2,15 @@
When video storage is enabled, LeRobot stores each camera stream as an **MP4** file instead of saving one image file per timestep. Video encoding compresses across time, which usually cuts dataset size and I/O compared to a pile of PNG, while keeping MP4 — a format every player and loader understands.
Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs. speed, and optional extra encoder flags. Most of these knobs are user-tunable through `camera_encoder`, a nested `VideoEncoderConfig` (`lerobot.configs.video.VideoEncoderConfig`) passed through PyAV.
Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs. speed, and optional extra encoder flags. Most of these knobs are user-tunable through `rgb_encoder`, a nested `RGBEncoderConfig` (`lerobot.configs.video.RGBEncoderConfig`) passed through PyAV.
You can set these parameters from the CLI with `--dataset.camera_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
You can set these parameters from the CLI with `--dataset.rgb_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
<Tip>
Video storage must be on for `camera_encoder` to have any effect —
Video storage must be on for `rgb_encoder` to have any effect —
`use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the
recording default). With video off, inputs stay as images and `camera_encoder`
is ignored.
recording default). With video off, inputs stay as images and `rgb_encoder` is
ignored.
</Tip>
For details on **when** frames are written vs. encoded (streaming vs. post-episode), queues, and other top-level `--dataset.*` switches, see [Streaming Video Encoding](./streaming_video_encoding). For an encoding-parameter comparison and experiments, see the [video-benchmark Space](https://huggingface.co/spaces/lerobot/video-benchmark).
@@ -33,9 +33,9 @@ lerobot-record \
--dataset.single_task="Grab the cube" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
--dataset.camera_encoder.vcodec=h264 \
--dataset.camera_encoder.preset=fast \
--dataset.camera_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2} \
--dataset.rgb_encoder.vcodec=h264 \
--dataset.rgb_encoder.preset=fast \
--dataset.rgb_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2} \
--display_data=true
```
@@ -50,7 +50,7 @@ Only override these parameters if you have a specific reason to, and measure the
</Tip>
All flags below are prefixed with `--dataset.camera_encoder.` on the CLI.
All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
| Parameter | Type | Default | Description |
| --------------- | ---------------- | ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
@@ -172,7 +172,7 @@ Two sources contribute to the `info` block:
<Tip>
This block is populated **once**, from the **first** episode. It assumes every
episode in the dataset was encoded with the same `camera_encoder`. Changing
episode in the dataset was encoded with the same `rgb_encoder`. Changing
encoder settings partway through a recording is not supported — the
`info.json` will only reflect the parameters used for the first episode.
</Tip>