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CarolinePascal
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docs/source/video_encoding_parameters.mdx
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# Video encoding parameters # Video encoding parameters
When **video storage** is on, LeRobot stores each camera stream as an **MP4** file rather than saving **one image file at every timestep**. **Video encoding compress across time**, which usually cuts **dataset size and I/O** compared to heaps of PNG, and MP4 stays a **familiar format** for players and loaders. Incoding frames into a MP4 file is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs speed, and When **video storage** is on, LeRobot stores each camera stream as an **MP4** file rather than saving **one image file at every timestep**. **Video encoding compress across time**, which usually cuts **dataset size and I/O** compared to heaps of PNG, and MP4 stays a **familiar format** for players and loaders. Encoding frames into a MP4 file is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs speed, and
optional extra encoder flags. **Many of those knobs are user-tunable** and are exposed on the dataset config as optional extra encoder flags. **Many of those knobs are user-tunable** and are exposed on the dataset config as
**`dataset.camera_encoder_config`** — a nested **`VideoEncoderConfig`** (`lerobot.datasets.video_utils. **`dataset.camera_encoder_config`** — a nested **`VideoEncoderConfig`** (`lerobot.datasets.video_utils.
VideoEncoderConfig`) passed through **PyAV**. VideoEncoderConfig`) passed through **PyAV**.