admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-15 00:29:52 +00:00
Code Issues Packages Projects Releases Wiki Activity

chore(rename): renaming camera_encoder_config to camera_encoder

Browse Source
This commit is contained in:
CarolinePascal
2026-05-13 14:25:59 +02:00
parent fb142866dd
commit c96092f199
36 changed files with 187 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/act.mdx
+1 -1
View File
@@ -90,6 +90,6 @@ lerobot-record \
--dataset.single_task="Your task description" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--policy.path=${HF_USER}/act_policy
```
docs/source/earthrover_mini_plus.mdx
+1 -1
View File
@@ -194,7 +194,7 @@ lerobot-record \
--dataset.single_task="Navigate around obstacles" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--display_data=true
```
docs/source/groot.mdx
+1 -1
View File
@@ -123,7 +123,7 @@ lerobot-record \
--dataset.single_task="Grab and handover the red cube to the other arm" \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--policy.path=<user>/groot-bimanual \ # your trained model
--dataset.episode_time_s=30 \
--dataset.reset_time_s=10
docs/source/hope_jr.mdx
+2 -2
View File
@@ -232,7 +232,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--display_data=true
```
@@ -278,6 +278,6 @@ lerobot-record \
--dataset.num_episodes=10 \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--policy.path=outputs/train/hopejr_hand/checkpoints/last/pretrained_model
```
docs/source/il_robots.mdx
+1 -1
View File
@@ -193,7 +193,7 @@ lerobot-record \
--dataset.num_episodes=5 \
--dataset.single_task="Grab the black cube" \
--dataset.streaming_encoding=true \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--dataset.encoder_threads=2
```
</hfoption>
docs/source/lerobot-dataset-v3.mdx
+1 -1
View File
@@ -43,7 +43,7 @@ lerobot-record \
--dataset.num_episodes=5 \
--dataset.single_task="Grab the black cube" \
--dataset.streaming_encoding=true \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--dataset.encoder_threads=2
```
docs/source/reachy2.mdx
+2 -2
View File
@@ -161,7 +161,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--display_data=true
```
@@ -203,7 +203,7 @@ lerobot-record \
--dataset.private=true \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
--display_data=true
```
docs/source/smolvla.mdx
+1 -1
View File
@@ -108,7 +108,7 @@ lerobot-record \
--dataset.num_episodes=10 \
--dataset.streaming_encoding=true \
--dataset.encoder_threads=2 \
# --dataset.camera_encoder_config.vcodec=auto \
# --dataset.camera_encoder.vcodec=auto \
# <- Teleop optional if you want to teleoperate in between episodes \
# --teleop.type=so100_leader \
# --teleop.port=/dev/ttyACM0 \
docs/source/streaming_video_encoding.mdx
+12 -12
View File
@@ -17,7 +17,7 @@ This makes `save_episode()` near-instant (the video is already encoded by the ti
| Parameter | CLI Flag | Type | Default | Description |
| ----------------------- | ---------------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
| `streaming_encoding` | `--dataset.streaming_encoding` | `bool` | `True` | Enable real-time encoding during capture |
| `vcodec` | `--dataset.camera_encoder_config.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
| `vcodec` | `--dataset.camera_encoder.vcodec` | `str` | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder |
| `encoder_threads` | `--dataset.encoder_threads` | `int \| None` | `None` (auto) | Threads per encoder instance. `None` will leave the vcoded decide |
| `encoder_queue_maxsize` | `--dataset.encoder_queue_maxsize` | `int` | `30` | Max buffered frames per camera (~1s at 30fps). Consumes RAM |
@@ -84,13 +84,13 @@ Use HW encoding when:
| Encoder | Platform | Hardware | CLI Value |
| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | ---------------------------------------------------------- |
| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder_config.vcodec=h264_videotoolbox` |
| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder_config.vcodec=hevc_videotoolbox` |
| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder_config.vcodec=h264_nvenc` |
| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder_config.vcodec=hevc_nvenc` |
| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.camera_encoder_config.vcodec=h264_vaapi` |
| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.camera_encoder_config.vcodec=h264_qsv` |
| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.camera_encoder_config.vcodec=auto` |
| `h264_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=h264_videotoolbox` |
| `hevc_videotoolbox` | macOS | Apple Silicon / Intel | `--dataset.camera_encoder.vcodec=hevc_videotoolbox` |
| `h264_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=h264_nvenc` |
| `hevc_nvenc` | Linux/Windows | NVIDIA GPU | `--dataset.camera_encoder.vcodec=hevc_nvenc` |
| `h264_vaapi` | Linux | Intel/AMD GPU | `--dataset.camera_encoder.vcodec=h264_vaapi` |
| `h264_qsv` | Linux/Windows | Intel Quick Sync | `--dataset.camera_encoder.vcodec=h264_qsv` |
| `auto` | Any | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.camera_encoder.vcodec=auto` |
> [!NOTE]
> In order to use the HW accelerated encoders you might need to upgrade your GPU drivers.
@@ -102,12 +102,12 @@ Use HW encoding when:
| Symptom | Likely Cause | Fix |
| ------------------------------------------------------------------ | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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_config.vcodec=auto`) |
| "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_config.vcodec=auto`). |
| 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`) |
| "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`). |
| High RAM usage | Queue filling faster than encoding | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding |
| Large video files | Using HW encoder or H.264 | Expected trade-off. Switch to `libsvtav1` if CPU allows |
| `save_episode()` still slow | `streaming_encoding` is `False` | Set `--dataset.streaming_encoding=true` |
| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.camera_encoder_config.vcodec=auto` |
| Encoder thread crash | Codec not available or invalid settings | Check `vcodec` is installed, try `--dataset.camera_encoder.vcodec=auto` |
| 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. |
## 6. Recommended Configurations
@@ -146,7 +146,7 @@ On very constrained systems, streaming encoding may compete too heavily with the
# 2camsx 640x480x3 @30fps: Requires some tuning.
# Use H.264, disable streaming, consider batching encoding
lerobot-record --dataset.camera_encoder_config.vcodec=h264 --dataset.streaming_encoding=false ...
lerobot-record --dataset.camera_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
```
## 7. Closing note
docs/source/using_dataset_tools.mdx
+5 -5
View File
@@ -117,10 +117,10 @@ lerobot-edit-dataset \
--repo_id lerobot/pusht_image \
--operation.type convert_image_to_video \
--operation.output_dir outputs/pusht_video \
--operation.camera_encoder_config.vcodec libsvtav1 \
--operation.camera_encoder_config.pix_fmt yuv420p \
--operation.camera_encoder_config.g 2 \
--operation.camera_encoder_config.crf 30
--operation.camera_encoder.vcodec libsvtav1 \
--operation.camera_encoder.pix_fmt yuv420p \
--operation.camera_encoder.g 2 \
--operation.camera_encoder.crf 30
# Convert only specific episodes
lerobot-edit-dataset \
@@ -147,7 +147,7 @@ lerobot-edit-dataset \
**Parameters:**
- `output_dir`: Custom output directory (optional - by default uses `new_repo_id` or `{repo_id}_video`)
- `camera_encoder_config`: Video encoder settings — all sub-fields accessible via `--operation.camera_encoder_config.<field>. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
- `camera_encoder`: Video encoder settings — all sub-fields accessible via `--operation.camera_encoder.<field>. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
- `episode_indices`: List of specific episodes to convert (default: all episodes)
- `num_workers`: Number of parallel workers for processing (default: 4)