From d7be868dfa7b3bc7030013be34287225aff82438 Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Tue, 30 Jun 2026 17:57:17 +0200
Subject: [PATCH] feat(libaom-av1): adding support for libaom-av1 codec

---
 src/lerobot/configs/video.py    | 10 +++++++++-
 tests/datasets/test_datasets.py |  3 ++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/lerobot/configs/video.py b/src/lerobot/configs/video.py
index 3ea834508..e253526f6 100644
--- a/src/lerobot/configs/video.py
+++ b/src/lerobot/configs/video.py
@@ -36,7 +36,9 @@ HW_VIDEO_CODECS = [
     "h264_vaapi",  # Linux Intel/AMD
     "h264_qsv",  # Intel Quick Sync
 ]
-VALID_VIDEO_CODECS: frozenset[str] = frozenset({"h264", "hevc", "libsvtav1", "auto", *HW_VIDEO_CODECS})
+VALID_VIDEO_CODECS: frozenset[str] = frozenset(
+    {"h264", "hevc", "libsvtav1", "libaom-av1", "auto", *HW_VIDEO_CODECS}
+)
 # Aliases for legacy video codec names.
 VIDEO_CODECS_ALIASES: dict[str, str] = {"av1": "libsvtav1"}
 
@@ -220,6 +222,12 @@ class VideoEncoderConfig:
             if self.fast_decode:
                 opts["tune"] = "fastdecode"
             set_if("threads", encoder_threads)
+        elif self.vcodec == "libaom-av1":
+            set_if("crf", self.crf)
+            set_if("preset", self.preset)
+            if encoder_threads is not None:
+                opts["threads"] = encoder_threads
+                opts["row-mt"] = 1
         elif self.vcodec in ("h264_videotoolbox", "hevc_videotoolbox"):
             if self.crf is not None:
                 opts["q:v"] = max(1, min(100, 100 - self.crf * 2))
diff --git a/tests/datasets/test_datasets.py b/tests/datasets/test_datasets.py
index 225479814..97f799d9f 100644
--- a/tests/datasets/test_datasets.py
+++ b/tests/datasets/test_datasets.py
@@ -1531,6 +1531,7 @@ def test_valid_video_codecs_constant():
     assert "h264" in VALID_VIDEO_CODECS
     assert "hevc" in VALID_VIDEO_CODECS
     assert "libsvtav1" in VALID_VIDEO_CODECS
+    assert "libaom-av1" in VALID_VIDEO_CODECS
     assert "auto" in VALID_VIDEO_CODECS
     assert "h264_videotoolbox" in VALID_VIDEO_CODECS
     assert "h264_nvenc" in VALID_VIDEO_CODECS
@@ -1538,7 +1539,7 @@ def test_valid_video_codecs_constant():
     assert "h264_qsv" in VALID_VIDEO_CODECS
     assert "hevc_videotoolbox" in VALID_VIDEO_CODECS
     assert "hevc_nvenc" in VALID_VIDEO_CODECS
-    assert len(VALID_VIDEO_CODECS) == 10
+    assert len(VALID_VIDEO_CODECS) == 11
 
 
 def test_delta_timestamps_with_episodes_filter(tmp_path, empty_lerobot_dataset_factory):