mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-04 00:27:15 +00:00
docs(prettier): making video encoding parameters docs prettier
This commit is contained in:
CarolinePascal
@@ -6,12 +6,11 @@ Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel
|
||||
|
||||
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 `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 `rgb_encoder` is
|
||||
ignored.
|
||||
</Tip>
|
||||
> [!TIP]
|
||||
> 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 `rgb_encoder` is
|
||||
> ignored.
|
||||
|
||||
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).
|
||||
|
||||
@@ -43,12 +42,10 @@ lerobot-record \
|
||||
|
||||
## Tuning parameters
|
||||
|
||||
<Tip warning={true}>
|
||||
The defaults are tuned to balance **compression ratio**, **visual quality**, and **decoding/seek speed** for typical robotics datasets. Changing them can affect both recording (CPU load, frame drops) and training (decoding throughput, image quality).
|
||||
|
||||
Only override these parameters if you have a specific reason to, and measure the impact on your pipeline before relying on the new settings.
|
||||
|
||||
</Tip>
|
||||
> [!WARNING]
|
||||
> The defaults are tuned to balance **compression ratio**, **visual quality**, and **decoding/seek speed** for typical robotics datasets. Changing them can affect both recording (CPU load, frame drops) and training (decoding throughput, image quality).
|
||||
>
|
||||
> Only override these parameters if you have a specific reason to, and measure the impact on your pipeline before relying on the new settings.
|
||||
|
||||
All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
|
||||
|
||||
@@ -69,25 +66,29 @@ All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
|
||||
|
||||
Depth maps (Intel RealSense, Reachy 2) are stored as their **own video streams** alongside the RGB streams. Raw depth (`uint16` millimetres or `float32` metres) can't survive an 8-bit codec, so LeRobot **quantizes** each map to a 12-bit code (`[0, 4095]`) — logarithmically by default, to match the `1/depth` error profile of depth sensors — then packs it into a high-bit-depth pixel format (`gray12le`) and encodes it with a 12-bit codec.
|
||||
|
||||
```mermaid
|
||||
flowchart LR
|
||||
A["Raw depth (uint16 mm / float32 m)"] --> B["Clip to depth_min, depth_max"]
|
||||
B --> C["Quantize to 12-bit code 0–4095 (log or linear)"]
|
||||
C --> D["Pack into gray12le"]
|
||||
D --> E["Encode video (hevc Main 12)"]
|
||||
E --> F[("MP4 + metadata: depth_min/max, shift, use_log")]
|
||||
F -. "load time (depth_output_unit)" .-> G["Dequantize to mm or m"]
|
||||
|
||||
classDef input fill:#e3f2fd,stroke:#1565c0,color:#0d47a1;
|
||||
classDef encode fill:#ede7f6,stroke:#5e35b1,color:#311b92;
|
||||
classDef store fill:#fff8e1,stroke:#f9a825,color:#e65100;
|
||||
classDef load fill:#e8f5e9,stroke:#2e7d32,color:#1b5e20;
|
||||
|
||||
class A input;
|
||||
class B,C,D,E encode;
|
||||
class F store;
|
||||
class G load;
|
||||
```
|
||||
<div style="margin:28px 0;padding:14px 0;">
|
||||
<div style="margin:0 auto;display:flex;flex-wrap:wrap;justify-content:center;align-items:stretch;gap:6px;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;font-size:14px;font-weight:600;color:#1B1B1D;">
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#DBEAFE;color:#1D4ED8;border-radius:9px;padding:8px 12px;"><span>Raw depth</span><span style="font-size:11px;font-weight:400;color:#3B6FD4;white-space:nowrap;">uint16 mm<br/>float32 m</span></span>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">→</span>
|
||||
<div style="border:2px dashed #C4B5FD;border-radius:13px;padding:18px 12px 12px;position:relative;display:flex;align-items:stretch;gap:6px;">
|
||||
<span style="position:absolute;top:-10px;left:12px;background:#fff;padding:0 6px;font-size:11px;font-weight:700;color:#7E22CE;text-transform:uppercase;letter-spacing:0.5px;white-space:nowrap;">Record time</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;"><span>Clip</span><span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">to [depth_min,<br/>depth_max]</span></span>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">→</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;"><span>Quantize</span><span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">12-bit codes 0–4095<br/>log (default) or linear</span></span>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">→</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;"><span>Pack</span><span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">into gray12le<br/>plane</span></span>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">→</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;"><span>Encode</span><span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">HEVC<br/>Main 12</span></span>
|
||||
</div>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">→</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#FEF3C7;color:#B45309;border-radius:9px;padding:8px 12px;"><span>MP4</span><span style="font-size:11px;font-weight:400;color:#C77D18;white-space:nowrap;">stored<br/>stream</span></span>
|
||||
<span style="display:flex;align-items:center;font-size:16px;color:#34A06B;">→</span>
|
||||
<div style="border:2px dashed #6EE7B7;border-radius:13px;padding:18px 12px 12px;position:relative;display:flex;align-items:center;gap:6px;">
|
||||
<span style="position:absolute;top:-10px;left:12px;background:#fff;padding:0 6px;font-size:11px;font-weight:700;color:#047857;text-transform:uppercase;letter-spacing:0.5px;white-space:nowrap;">Load time</span>
|
||||
<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#D1FAE5;color:#047857;border-radius:9px;padding:8px 12px;"><span>Dequantize</span><span style="font-size:11px;font-weight:400;color:#059669;white-space:nowrap;">to mm / m</span></span>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
Configure the depth pipeline through a parallel **`depth_encoder`** block (`DepthEncoderConfig`). It shares every `RGBEncoderConfig` field (`vcodec`, `pix_fmt`, `crf`, …) and adds four quantizer knobs, set via `--dataset.depth_encoder.<field>`:
|
||||
|
||||
@@ -168,15 +169,44 @@ After the first episode of a video stream is encoded, the encoder configuration
|
||||
|
||||
Two sources contribute to the `info` block:
|
||||
|
||||
- **Stream-derived** (read back from the encoded MP4 with PyAV): `video.height`, `video.width`, `video.codec`, `video.pix_fmt`, `video.fps`, `video.channels`, `is_depth_map`, plus `audio.*` if an audio stream is present.
|
||||
- **Encoder-derived** (taken from `RGBEncoderConfig` or `DepthEncoderConfig`): `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.video_backend`, `video.extra_options`.
|
||||
<div style="display:flex;flex-wrap:wrap;gap:14px;margin:20px 0;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;">
|
||||
<div style="flex:1 1 280px;border:1px solid #BFDBFE;border-radius:12px;overflow:hidden;">
|
||||
<div style="background:#DBEAFE;color:#1D4ED8;font-weight:700;font-size:14px;padding:8px 14px;">Stream-derived</div>
|
||||
<div style="padding:12px 14px;">
|
||||
<div style="font-size:13px;color:#4B5563;margin-bottom:10px;">Read back from the encoded MP4 with PyAV.</div>
|
||||
<div style="display:flex;flex-wrap:wrap;gap:6px;">
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.height</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.width</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.codec</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.pix_fmt</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.fps</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">video.channels</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">is_depth_map</code>
|
||||
<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">audio.*</code>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div style="flex:1 1 280px;border:1px solid #DDD6FE;border-radius:12px;overflow:hidden;">
|
||||
<div style="background:#F3E8FF;color:#7E22CE;font-weight:700;font-size:14px;padding:8px 14px;">Encoder-derived</div>
|
||||
<div style="padding:12px 14px;">
|
||||
<div style="font-size:13px;color:#4B5563;margin-bottom:10px;">Taken from <code style="font-size:12px;">RGBEncoderConfig</code> / <code style="font-size:12px;">DepthEncoderConfig</code>.</div>
|
||||
<div style="display:flex;flex-wrap:wrap;gap:6px;">
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.g</code>
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.crf</code>
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.preset</code>
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.fast_decode</code>
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.video_backend</code>
|
||||
<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">video.extra_options</code>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<Tip>
|
||||
This block is populated **once**, from the **first** episode. It assumes every
|
||||
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>
|
||||
> [!IMPORTANT]
|
||||
> This block is populated **once**, from the **first** episode. It assumes every
|
||||
> 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.
|
||||
|
||||
---
|
||||
|
||||
@@ -184,5 +214,13 @@ Two sources contribute to the `info` block:
|
||||
|
||||
When aggregating datasets with `merge_datasets`, video files are concatenated as-is (no re-encoding), and encoder fields in `info.json` are merged per-key:
|
||||
|
||||
- **Stream-derived fields must match** across sources: `video.codec`, `video.pix_fmt`, `video.height`, `video.width`, `video.fps`. Otherwise FFmpeg's concat demuxer fails.
|
||||
- **Encoder-tuning fields are merged loosely**: `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.extra_options`. If every source agrees, the value is kept; if not, it's set to `null` (or `{}` for `video.extra_options`) and a warning is logged.
|
||||
<div style="display:flex;flex-direction:column;gap:12px;margin:20px 0;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;">
|
||||
<div style="display:flex;gap:12px;align-items:flex-start;border-left:3px solid #F87171;background:#FEF2F2;border-radius:0 10px 10px 0;padding:12px 14px;">
|
||||
<span style="flex:none;background:#FEE2E2;color:#B91C1C;font-weight:700;font-size:11px;text-transform:uppercase;letter-spacing:0.4px;border-radius:6px;padding:3px 8px;margin-top:1px;white-space:nowrap;">Must match</span>
|
||||
<span style="font-size:14px;color:#1B1B1D;">Stream-derived fields — <code style="font-size:12px;">video.codec</code>, <code style="font-size:12px;">video.pix_fmt</code>, <code style="font-size:12px;">video.height</code>, <code style="font-size:12px;">video.width</code>, <code style="font-size:12px;">video.fps</code> — must match across sources, otherwise FFmpeg's concat demuxer fails.</span>
|
||||
</div>
|
||||
<div style="display:flex;gap:12px;align-items:flex-start;border-left:3px solid #34D399;background:#ECFDF5;border-radius:0 10px 10px 0;padding:12px 14px;">
|
||||
<span style="flex:none;background:#D1FAE5;color:#047857;font-weight:700;font-size:11px;text-transform:uppercase;letter-spacing:0.4px;border-radius:6px;padding:3px 8px;margin-top:1px;white-space:nowrap;">Merged loosely</span>
|
||||
<span style="font-size:14px;color:#1B1B1D;">Encoder-tuning fields — <code style="font-size:12px;">video.g</code>, <code style="font-size:12px;">video.crf</code>, <code style="font-size:12px;">video.preset</code>, <code style="font-size:12px;">video.fast_decode</code>, <code style="font-size:12px;">video.extra_options</code>. If every source agrees, the value is kept; if not, it's set to <code style="font-size:12px;">null</code> (or <code style="font-size:12px;">{}</code> for <code style="font-size:12px;">video.extra_options</code>) and a warning is logged.</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
Reference in New Issue
Block a user