fix(update video info): fixing update video info logic to match the recording and editing use cases

src/lerobot/datasets/dataset_metadata.py

@@ -602,11 +602,19 @@ class LeRobotDatasetMetadata:
         video_encoder: VideoEncoderConfig | None = None,
         preserve_keys: Iterable[str] | None = None,
     ) -> None:
-        """Populate per-feature video info in ``info.json``.
+        """Populate or refresh per-feature video info in ``info.json``.
 
         Warning: this function writes info from first episode videos, implicitly assuming that all videos have
         been encoded the same way. Also, this means it assumes the first episode exists.
 
+        Two modes, selected by ``preserve_keys``:
+
+        - **Populate** (``None``, default): write info for video keys that lack it,
+          skip the rest. Used when first encoding a dataset.
+        - **Refresh** (any iterable): re-probe and overwrite existing info, keeping
+          the listed keys. Used after re-encoding to preserve data-intrinsic entries
+          (``is_depth_map``, depth quantization params) while codec params change.
+
         Args:
             video_key: If provided, only update this video key. Otherwise update
                 all video keys in the dataset.
@@ -614,21 +622,26 @@ class LeRobotDatasetMetadata:
                 videos. When provided, its fields are recorded as
                 ``video.<field>`` entries alongside the stream-derived
                 ``video.*`` entries (see :func:`get_video_info`).
-            preserve_keys: Optional iterable of ``info`` keys whose existing
-                values must be kept as-is.
+            preserve_keys: ``None`` (default) for populate-once mode. An iterable
+                (possibly empty) switches to refresh mode, keeping these keys'
+                existing values while recomputing the rest.
         """
         if video_key is not None and video_key not in self.video_keys:
             raise ValueError(f"Video key {video_key} not found in dataset")
 
         video_keys = [video_key] if video_key is not None else self.video_keys
+        refresh = preserve_keys is not None
         preserve_set = set(preserve_keys or ())
         for key in video_keys:
             existing = self.features[key].get("info") or {}
-            # Skip only if real video info has already been written. The ``is_depth_map`` entry (created at feature creation) is not blocking.
-            if set(existing.keys()) - {"is_depth_map"}:
+            # ``is_depth_map`` is written at feature creation and does not count as real video info here.
+            already_populated = bool(set(existing.keys()) - {"is_depth_map"})
+            # Populate-once: never clobber info that has already been written unless a refresh is requested.
+            if already_populated and not refresh:
                 continue
             video_path = self.root / self.video_path.format(video_key=key, chunk_index=0, file_index=0)
             new_info = get_video_info(video_path, video_encoder=video_encoder)
+            # Drop preserved keys so the existing values win on merge.
             new_info = {k: v for k, v in new_info.items() if k not in preserve_set}
             self.info.features[key]["info"] = {**existing, **new_info}
 

src/lerobot/datasets/dataset_tools.py

@@ -76,7 +76,6 @@ from .utils import (
 )
 from .video_utils import (
     encode_video_frames,
-    get_video_info,
     reencode_video,
 )
 
@@ -1884,14 +1883,11 @@ def convert_image_to_video_dataset(
         new_meta.info.total_tasks = dataset.meta.total_tasks
         new_meta.info.splits = {"train": f"0:{len(episode_indices)}"}
 
-        # Update video info for all image keys (now videos)
-        # We need to manually set video info since update_video_info() checks video_keys first
+        # Update video info for all image keys (now videos). They are registered as
+        # video features above, so update_video_info populates their (still-empty) info.
         for img_key in img_keys:
             target_encoder = depth_encoder if img_key in dataset.meta.depth_keys else camera_encoder
-            video_path = new_meta.root / new_meta.video_path.format(
-                video_key=img_key, chunk_index=0, file_index=0
-            )
-            new_meta.info.features[img_key]["info"] = get_video_info(video_path, video_encoder=target_encoder)
+            new_meta.update_video_info(video_key=img_key, video_encoder=target_encoder)
 
         write_info(new_meta.info, new_meta.root)
 
@@ -1973,7 +1969,7 @@ def reencode_dataset(
         if target_encoder is None:
             logging.info(f"No encoder provided for {video_key} video. Skipping re-encoding.")
         elif current_encoder != target_encoder:
-            video_keys_paths_dict[video_key] = (meta.root / VIDEO_DIR / video_key).rglob("*.mp4")
+            video_keys_paths_dict[video_key] = list((meta.root / VIDEO_DIR / video_key).rglob("*.mp4"))
             video_keys_encoders_dict[video_key] = target_encoder
         else:
             logging.info(f"{video_key} videos are already encoded with {target_encoder}. Nothing to do.")
@@ -2001,11 +1997,14 @@ def reencode_dataset(
         for args in tqdm(worker_args, desc="Re-encoding videos"):
             _reencode_video_worker(args)
 
-    # Refresh video info in metadata for every video key. For depth videos, preserve
-    # ``is_depth_map`` and the depth quantization parameters.
+    # Refresh video info in metadata for every re-encoded key. Re-encoding only
+    # changes codec/container params, so for depth videos we preserve ``is_depth_map``
+    # and the depth quantization params (``video.depth_min`` / ``video.depth_max`` /
+    # ...), which describe the data rather than the codec and must survive a transcode.
+    # RGB videos pass an empty set: still a refresh, but nothing to preserve.
     depth_preserve_keys = {"is_depth_map", *(f"video.{n}" for n in DEPTH_ENCODER_INFO_FIELD_NAMES)}
     for video_key, encoder in video_keys_encoders_dict.items():
-        preserve_keys = depth_preserve_keys if video_key in meta.depth_keys else None
+        preserve_keys = depth_preserve_keys if video_key in meta.depth_keys else set()
         meta.update_video_info(video_key=video_key, video_encoder=encoder, preserve_keys=preserve_keys)
 
     write_info(meta.info, meta.root)