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CarolinePascal
2026-05-13 15:06:57 +02:00
parent f89da582ae
commit d1917a4871
7 changed files with 44 additions and 54 deletions
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docs/source/streaming_video_encoding.mdx
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@@ -14,12 +14,12 @@ This makes `save_episode()` near-instant (the video is already encoded by the ti
## 2. Tuning Parameters
| Parameter | CLI Flag | Type | Default | Description |
| ----------------------- | ---------------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
| `streaming_encoding` | `--dataset.streaming_encoding` | `bool` | `True` | Enable real-time encoding during capture |
| Parameter | CLI Flag | Type | Default | Description |
| ----------------------- | --------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
| `streaming_encoding` | `--dataset.streaming_encoding` | `bool` | `True` | Enable real-time encoding during capture |
| `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 |
| `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 |
## 3. Performance Considerations
@@ -82,8 +82,8 @@ Use HW encoding when:
### Available HW Encoders
| Encoder | Platform | Hardware | CLI Value |
| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | ---------------------------------------------------------- |
| Encoder | Platform | Hardware | CLI Value |
| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | --------------------------------------------------- |
| `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` |
@@ -100,15 +100,15 @@ Use HW encoding when:
## 5. Troubleshooting
| Symptom | Likely Cause | Fix |
| ------------------------------------------------------------------ | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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.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` |
| 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.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. |
| 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
docs/source/video_encoding_parameters.mdx
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@@ -1,13 +1,16 @@
# Video encoding parameters
When video storage is enabled, LeRobot stores each camera stream as an **MP4** file instead of saving one image file per timestep. Video encoding compresses across time, which usually cuts dataset size and I/O compared to a pile of PNGs, while keeping MP4 — a format every player and loader understands.
When video storage is enabled, LeRobot stores each camera stream as an **MP4** file instead of saving one image file per timestep. Video encoding compresses across time, which usually cuts dataset size and I/O compared to a pile of PNG, while keeping MP4 — a format every player and loader understands.
Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs. speed, and optional extra encoder flags. Most of these knobs are user-tunable through `camera_encoder`, a nested `VideoEncoderConfig` (`lerobot.configs.video.VideoEncoderConfig`) passed through PyAV.
You can set these parameters from the CLI with `--dataset.camera_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
<Tip>
Video storage must be on for `camera_encoder` to have any effect — `use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the recording default). With video off, inputs stay as images and `camera_encoder` is ignored.
Video storage must be on for `camera_encoder` to have any effect —
`use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the
recording default). With video off, inputs stay as images and `camera_encoder`
is ignored.
</Tip>
For details on **when** frames are written vs. encoded (streaming vs. post-episode), queues, and other top-level `--dataset.*` switches, see [Streaming Video Encoding](./streaming_video_encoding). For an encoding-parameter comparison and experiments, see the [video-benchmark Space](https://huggingface.co/spaces/lerobot/video-benchmark).
@@ -42,25 +45,25 @@ lerobot-record \
All flags below are prefixed with `--dataset.camera_encoder.` on the CLI.
| Parameter | Type | Default | Description |
| --------------- | -------------- | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `vcodec` | `str` | `"libsvtav1"` | Video codec name. `"auto"` picks the first available hardware encoder from a fixed preference list, falling back to `libsvtav1`. |
| `pix_fmt` | `str` | `"yuv420p"` | Output pixel format. Must be supported by the chosen codec in your FFmpeg build. |
| `g` | `int` | `2` | GOP size — a keyframe every `g` frames. Emitted as FFmpeg option `g`. |
| Parameter | Type | Default | Description |
| --------------- | -------------- | ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `vcodec` | `str` | `"libsvtav1"` | Video codec name. `"auto"` picks the first available hardware encoder from a fixed preference list, falling back to `libsvtav1`. |
| `pix_fmt` | `str` | `"yuv420p"` | Output pixel format. Must be supported by the chosen codec in your FFmpeg build. |
| `g` | `int` | `2` | GOP size — a keyframe every `g` frames. Emitted as FFmpeg option `g`. |
| `crf` | `int` | `30` | Abstract quality value, mapped per codec (see the [mapping](#mapping-videoencoderconfig--ffmpeg-options) below). Lower → higher quality / larger output where the mapping is monotone. |
| `preset` | `int` or `str` | `12` \* | Encoder speed preset; meaning depends on the codec. <br/>\* When unset and `vcodec=libsvtav1`, LeRobot defaults to `12`. |
| `fast_decode` | `int` | `0` | `libsvtav1`: `0–2`, passed via `svtav1-params`. <br/>`h264` / `hevc` (software): if `>0`, sets `tune=fastdecode`. <br/>Other codecs: usually unused. |
| `video_backend` | `str` | `"pyav"` | Only `"pyav"` is currently implemented for video encoding. |
| `extra_options` | `dict` | `{}` | Extra FFmpeg options merged after the structured fields above. Cannot override keys already set by those fields. |
| `preset` | `int` or `str` | `12` \* | Encoder speed preset; meaning depends on the codec. <br/>\* When unset and `vcodec=libsvtav1`, LeRobot defaults to `12`. |
| `fast_decode` | `int` | `0` | `libsvtav1`: `0–2`, passed via `svtav1-params`. <br/>`h264` / `hevc` (software): if `>0`, sets `tune=fastdecode`. <br/>Other codecs: usually unused. |
| `video_backend` | `str` | `"pyav"` | Only `"pyav"` is currently implemented for video encoding. |
| `extra_options` | `dict` | `{}` | Extra FFmpeg options merged after the structured fields above. Cannot override keys already set by those fields. |
---
## Validation
| Check | Behavior |
| -------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Video codec presence | `vcodec` must exist as a video encoder in the local FFmpeg build (after resolving `"auto"`). |
| Pixel format | `pix_fmt` is checked against the encoder's reported pixel formats when available. |
| Check | Behavior |
| -------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Video codec presence | `vcodec` must exist as a video encoder in the local FFmpeg build (after resolving `"auto"`). |
| Pixel format | `pix_fmt` is checked against the encoder's reported pixel formats when available. |
| Options | The output of `get_codec_options()` (including values from `extra_options`) is checked against PyAV/FFmpeg option metadata — ranges, integer constraints, string choices — where applicable. |
---
@@ -78,7 +81,6 @@ How each field is forwarded to FFmpeg after `vcodec` resolution, via `get_codec_
| `h264_vaapi` | `qp` ← `crf` | — | — |
| `h264_qsv` | `global_quality` ← `crf` | `preset` | — |
---
## Persistence in dataset metadata
@@ -104,7 +106,7 @@ After the first episode of a video stream is encoded, the encoder configuration
"video.preset": "fast",
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {"tune": "film", "profile:v": "high", "bf": 2}
"video.extra_options": { "tune": "film", "profile:v": "high", "bf": 2 }
}
}
}
@@ -117,7 +119,10 @@ Two sources contribute to the `info` block:
- **Encoder-derived** (taken from `VideoEncoderConfig`): `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.video_backend`, `video.extra_options`.
<Tip>
This block is populated **once**, from the **first** episode. It assumes every episode in the dataset was encoded with the same `camera_encoder`. Changing encoder settings partway through a recording is not supported — the `info.json` will only reflect the parameters used for the first episode.
This block is populated **once**, from the **first** episode. It assumes every
episode in the dataset was encoded with the same `camera_encoder`. Changing
encoder settings partway through a recording is not supported — the
`info.json` will only reflect the parameters used for the first episode.
</Tip>
---