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This commit is contained in:
Steven Palma
2025-11-05 20:49:29 +01:00
parent 3ec4e4ce37
commit 550866a3c5
1 changed files with 5 additions and 2 deletions
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src/lerobot/datasets/lerobot_dataset.py
+5 -2
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@@ -693,6 +693,9 @@ class LeRobotDataset(torch.utils.data.Dataset):
self.repo_id, self.root, self.revision, force_cache_sync=force_cache_sync self.repo_id, self.root, self.revision, force_cache_sync=force_cache_sync
) )
# Pre-load episodes metadata into memory to avoid file I/O in __getitem__
self.episodes_metadata_list = [ep for ep in self.meta.episodes]
# Track dataset state for efficient incremental writing # Track dataset state for efficient incremental writing
self._lazy_loading = False self._lazy_loading = False
self._recorded_frames = self.meta.total_frames self._recorded_frames = self.meta.total_frames
@@ -909,7 +912,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
return get_hf_features_from_features(self.features) return get_hf_features_from_features(self.features)
def _get_query_indices(self, idx: int, ep_idx: int) -> tuple[dict[str, list[int | bool]]]: def _get_query_indices(self, idx: int, ep_idx: int) -> tuple[dict[str, list[int | bool]]]:
ep = self.meta.episodes[ep_idx] ep = self.episodes_metadata_list[ep_idx]
ep_start = ep["dataset_from_index"] ep_start = ep["dataset_from_index"]
ep_end = ep["dataset_to_index"] ep_end = ep["dataset_to_index"]
query_indices = { query_indices = {
@@ -952,7 +955,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
Segmentation Fault. This probably happens because a memory reference to the video loader is created in Segmentation Fault. This probably happens because a memory reference to the video loader is created in
the main process and a subprocess fails to access it. the main process and a subprocess fails to access it.
""" """
ep = self.meta.episodes[ep_idx] ep = self.episodes_metadata_list[ep_idx]
item = {} item = {}
for vid_key, query_ts in query_timestamps.items(): for vid_key, query_ts in query_timestamps.items():
# Episodes are stored sequentially on a single mp4 to reduce the number of files. # Episodes are stored sequentially on a single mp4 to reduce the number of files.