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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/video_encoding_parameters.mdx
+10 -10
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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>