feat(dataset): expose tolerance_s argument to training config (#2653)

src/lerobot/configs/train.py

@@ -56,6 +56,7 @@ class TrainPipelineConfig(HubMixin):
     steps: int = 100_000
     eval_freq: int = 20_000
     log_freq: int = 200
+    tolerance_s: float = 1e-4
     save_checkpoint: bool = True
     # Checkpoint is saved every `save_freq` training iterations and after the last training step.
     save_freq: int = 20_000

src/lerobot/datasets/factory.py

@@ -98,6 +98,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
                 image_transforms=image_transforms,
                 revision=cfg.dataset.revision,
                 video_backend=cfg.dataset.video_backend,
+                tolerance_s=cfg.tolerance_s,
             )
         else:
             dataset = StreamingLeRobotDataset(
@@ -108,6 +109,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
                 image_transforms=image_transforms,
                 revision=cfg.dataset.revision,
                 max_num_shards=cfg.num_workers,
+                tolerance_s=cfg.tolerance_s,
             )
     else:
         raise NotImplementedError("The MultiLeRobotDataset isn't supported for now.")