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feat(encoding parameters): adding support for user provided video encoding parameters (#3455)
* chore(video backend): renaming codec into video_backend in get_safe_default_video_backend() * feat(pyav utils): adding suport for PyAV encoding parameters validation * feat(VideoEncoderConfig): creating a VideoEncoderConfig to encapsulate encoding parameters * feat(VideoEncoderConfig): propagating the VideoEncoderConfig in the codebase * chore(docs): updating the docs * feat(metadata): adding encoding parameters in dataset metadata * fix(concatenation compatibility): adding compatibility check when concatenating video files * feat(VideoEncoderConfig init): making VideoEncoderConfig more robust and adaptable to multiple backends * feat(pyav checks): making pyav parameters checks more robust * chore(duplicate): removing duplicate get_codec_options definition * test(existing): adapting existing tests * test(new): adding new tests for encoding related features * chore(format): fixing formatting issues * chore(PyAV): cleaning up PyAV utils and encoding parameters checks to stick to the minimun required tooling. * chore(format): formatting code * chore(doctrings): updating docstrings * fix(camera_encoder_config): Removing camera_encoder_config from LeRobotDataset, as it's only required in LeRobotDatasetWriter. * feat(default values): applying a consistent naming convention for default RGB cameras video encoder parameters * fix(rollout): propagating VideoEncoderConfig to the latest recording modes * chore(format): formatting code, fixing error messages and variable names * fix(arguments order): reverting changes in arguments order in StreamingVideoEncoder * chore(relative imports): switching to relative local imports within lerobot.datasets * test(artifacts): cleaning up artifacts for the video encoding tests * chore(docs): updating docs * chore(fromat): formatting code * fix(imports): refactoring the file architecture to avoid circular imports. VideoEncoderConfig is now defined in lerobot.configs and lazily imports av at runtime. * fix(typos): fixing typos and small mistakes * test(factories): updating factories * feat(aggregate): updating dataset aggregation procedure. Encoding tuning paramters (crf, g,...) are ignored for validation and changed to None in the aggregated dataset if incompatible. * docs(typos): fixing typos * fix(deletion): reverting unwanted deletion * fix(typos): fixing multiple typos * feat(codec options): passing codec options to lerobot_edit_dataset episode deletion tool * typo(typo): typo * fix(typos): fixing remaining typos * chore(rename): renaming camera_encoder_config to camera_encoder * docs(clean): cleaning and formating docs * docs(dataset): addind details about datasets * chore(format): formatting code * docs(warning): adding warning regarding encoding parameters modification * fix(re-encoding): removing inconsistent re-encoding option in lerobot_edit_dataset * typos(typos): typos * chore(format): resolving prettier issues * fix(h264_nvenc): fixing crf handling for h264_nvenc * docs(clean): removing too technical parts of the docs * fix(imports): fixing imports at the __init__ level * fix(imports): fixing not very pretty imports in video config file
This commit is contained in:
Caroline Pascal
@@ -17,9 +17,9 @@ This makes `save_episode()` near-instant (the video is already encoded by the ti
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| Parameter | CLI Flag | Type | Default | Description |
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| ----------------------- | --------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
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| `streaming_encoding` | `--dataset.streaming_encoding` | `bool` | `True` | Enable real-time encoding during capture |
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| `vcodec` | `--dataset.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
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| `vcodec` | `--dataset.camera_encoder.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
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| `encoder_threads` | `--dataset.encoder_threads` | `int \| None` | `None` (auto) | Threads per encoder instance. `None` will leave the vcoded decide |
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| `encoder_queue_maxsize` | `--dataset.encoder_queue_maxsize` | `int` | `60` | Max buffered frames per camera (~2s at 30fps). Consumes RAM |
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| `encoder_queue_maxsize` | `--dataset.encoder_queue_maxsize` | `int` | `30` | Max buffered frames per camera (~1s at 30fps). Consumes RAM |
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## 3. Performance Considerations
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@@ -48,7 +48,7 @@ This parameter controls how many threads each encoder instance uses internally:
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### Backpressure and Frame Dropping
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Each camera has a bounded queue (`encoder_queue_maxsize`, default 60 frames). When the encoder can't keep up:
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Each camera has a bounded queue (`encoder_queue_maxsize`, default 30 frames). When the encoder can't keep up:
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1. The queue fills up (consuming RAM)
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2. New frames are **dropped** (not blocked) — the capture loop continues uninterrupted
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@@ -82,15 +82,15 @@ Use HW encoding when:
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### Available HW Encoders
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| Encoder | Platform | Hardware | CLI Value |
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| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | ------------------------------------ |
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| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.vcodec=h264_videotoolbox` |
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| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.vcodec=hevc_videotoolbox` |
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| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.vcodec=h264_nvenc` |
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| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.vcodec=hevc_nvenc` |
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| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.vcodec=h264_vaapi` |
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| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.vcodec=h264_qsv` |
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| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.vcodec=auto` |
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| Encoder | Platform | Hardware | CLI Value |
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| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | --------------------------------------------------- |
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| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=h264_videotoolbox` |
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| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=hevc_videotoolbox` |
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| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=h264_nvenc` |
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| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=hevc_nvenc` |
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| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.camera_encoder.vcodec=h264_vaapi` |
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| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.camera_encoder.vcodec=h264_qsv` |
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| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.camera_encoder.vcodec=auto` |
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> [!NOTE]
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> In order to use the HW accelerated encoders you might need to upgrade your GPU drivers.
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@@ -100,15 +100,15 @@ Use HW encoding when:
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## 5. Troubleshooting
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| Symptom | Likely Cause | Fix |
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| ------------------------------------------------------------------ | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage) | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.vcodec=auto`) |
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| "Encoder queue full" warnings or dropped frames in dataset | Encoder can't keep up (Queue overflow) | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.vcodec=auto`). |
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| High RAM usage | Queue filling faster than encoding | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding |
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| Large video files | Using HW encoder or H.264 | Expected trade-off. Switch to `libsvtav1` if CPU allows |
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| `save_episode()` still slow | `streaming_encoding` is `False` | Set `--dataset.streaming_encoding=true` |
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| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.vcodec=auto` |
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| Recorded dataset is missing frames | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected. |
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| Symptom | Likely Cause | Fix |
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| ------------------------------------------------------------------ | -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage) | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.camera_encoder.vcodec=auto`) |
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| "Encoder queue full" warnings or dropped frames in dataset | Encoder can't keep up (Queue overflow) | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.camera_encoder.vcodec=auto`). |
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| High RAM usage | Queue filling faster than encoding | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding |
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| Large video files | Using HW encoder or H.264 | Expected trade-off. Switch to `libsvtav1` if CPU allows |
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| `save_episode()` still slow | `streaming_encoding` is `False` | Set `--dataset.streaming_encoding=true` |
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| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.camera_encoder.vcodec=auto` |
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| Recorded dataset is missing frames | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected. |
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## 6. Recommended Configurations
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@@ -146,7 +146,7 @@ On very constrained systems, streaming encoding may compete too heavily with the
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# 2camsx 640x480x3 @30fps: Requires some tuning.
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# Use H.264, disable streaming, consider batching encoding
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lerobot-record --dataset.vcodec=h264 --dataset.streaming_encoding=false ...
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lerobot-record --dataset.camera_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
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```
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## 7. Closing note
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