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feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

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* feat(scripts): lerobot-rollout

* fix(rollout) require dataset in dagger + use duration too

* fix(docs): dagger num_episodes

* test(rollout): fix expectations

* fix(rollout): features check

* fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config

* docs(rollout): edit rename_map instructions

* chore(rollout): multiple minor improvements

* chore(rollout): address coments + minor improvements

* fix(rollout): enable default

* fix(tests): default value RTCConfig

* fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): prevent relativeactions with sync inference engine

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): rtc reanchor to non normalized state

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): fixing the episode length to use hwc (#3469)

also reducing default length to 5 minutes

* feat(rollout): go back to initial position is now a config

* fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470)

* chore(rollout): note about dagger correction stage

* chore(docs): update comments and docstring

* fix(test): move rtc relative out of rollout module

* fix(rollout): address the review comments

---------

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
This commit is contained in:
Steven Palma
2026-04-28 00:57:35 +02:00
committed by GitHub
parent 77352c495c
commit ca87ccd941
62 changed files with 5577 additions and 2847 deletions
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src/lerobot/datasets/lerobot_dataset.py
+4
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@@ -630,6 +630,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
streaming_encoding: bool = False,
encoder_queue_maxsize: int = 30,
encoder_threads: int | None = None,
video_files_size_in_mb: int | None = None,
data_files_size_in_mb: int | None = None,
) -> "LeRobotDataset":
"""Create a new LeRobotDataset from scratch for recording data.
@@ -677,6 +679,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
root=root,
use_videos=use_videos,
metadata_buffer_size=metadata_buffer_size,
video_files_size_in_mb=video_files_size_in_mb,
data_files_size_in_mb=data_files_size_in_mb,
)
obj.repo_id = obj.meta.repo_id
obj._requested_root = obj.meta.root