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chore(rename): renaming camera_encoder_config to camera_encoder

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CarolinePascal
2026-05-13 14:25:59 +02:00
parent fb142866dd
commit c96092f199
36 changed files with 187 additions and 166 deletions
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docs/source/streaming_video_encoding.mdx
+12 -12
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@@ -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