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feat(init audio buffer): adding a separate parameter for the initial audio buffer size

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CarolinePascal
2025-05-23 16:04:28 +02:00
parent 0fbcbcdb2e
commit e620395416
3 changed files with 10 additions and 3 deletions
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src/lerobot/datasets/lerobot_dataset.py
+2 -1
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@@ -41,6 +41,7 @@ from lerobot.datasets.utils import (
DEFAULT_EPISODES_PATH, DEFAULT_EPISODES_PATH,
DEFAULT_FEATURES, DEFAULT_FEATURES,
DEFAULT_IMAGE_PATH, DEFAULT_IMAGE_PATH,
DEFAULT_INITIAL_AUDIO_BUFFER_DURATION,
DEFAULT_RAW_AUDIO_PATH, DEFAULT_RAW_AUDIO_PATH,
INFO_PATH, INFO_PATH,
_validate_feature_names, _validate_feature_names,
@@ -482,7 +483,7 @@ class LeRobotDatasetMetadata:
if not self.features[key].get("info", None): if not self.features[key].get("info", None):
audio_path = self.root / self.audio_path.format(audio_key=key, chunk_index=0, file_index=0) audio_path = self.root / self.audio_path.format(audio_key=key, chunk_index=0, file_index=0)
self.info["features"][key]["info"] = get_audio_info(audio_path) self.info["features"][key]["info"] = get_audio_info(audio_path)
self.info["features"][key]["info"]["start_time_s"] = DEFAULT_AUDIO_CHUNK_DURATION self.info["features"][key]["info"]["start_time_s"] = DEFAULT_INITIAL_AUDIO_BUFFER_DURATION
def update_chunk_settings( def update_chunk_settings(
self, self,
src/lerobot/datasets/utils.py
+1
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@@ -71,6 +71,7 @@ DEFAULT_IMAGE_PATH = "images/{image_key}/episode-{episode_index:06d}/frame-{fram
DEFAULT_RAW_AUDIO_PATH = "raw_audio/{audio_key}/episode_{episode_index:06d}.wav" DEFAULT_RAW_AUDIO_PATH = "raw_audio/{audio_key}/episode_{episode_index:06d}.wav"
DEFAULT_AUDIO_CHUNK_DURATION = 0.5 # seconds DEFAULT_AUDIO_CHUNK_DURATION = 0.5 # seconds
DEFAULT_INITIAL_AUDIO_BUFFER_DURATION = 1.0 # seconds
LEGACY_EPISODES_PATH = "meta/episodes.jsonl" LEGACY_EPISODES_PATH = "meta/episodes.jsonl"
LEGACY_EPISODES_STATS_PATH = "meta/episodes_stats.jsonl" LEGACY_EPISODES_STATS_PATH = "meta/episodes_stats.jsonl"
src/lerobot/scripts/lerobot_record.py
+7 -2
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@@ -84,7 +84,12 @@ from lerobot.configs.policies import PreTrainedConfig
from lerobot.datasets.image_writer import safe_stop_image_writer from lerobot.datasets.image_writer import safe_stop_image_writer
from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
from lerobot.datasets.utils import DEFAULT_AUDIO_CHUNK_DURATION, build_dataset_frame, combine_feature_dicts from lerobot.datasets.utils import (
DEFAULT_AUDIO_CHUNK_DURATION,
DEFAULT_INITIAL_AUDIO_BUFFER_DURATION,
build_dataset_frame,
combine_feature_dicts,
)
from lerobot.datasets.video_utils import VideoEncodingManager from lerobot.datasets.video_utils import VideoEncodingManager
from lerobot.microphones.utils import ( from lerobot.microphones.utils import (
async_microphones_start_recording, async_microphones_start_recording,
@@ -345,7 +350,7 @@ def record_loop(
# Fill audio buffers if needed # Fill audio buffers if needed
if robot.microphones: if robot.microphones:
busy_wait(DEFAULT_AUDIO_CHUNK_DURATION) busy_wait(DEFAULT_INITIAL_AUDIO_BUFFER_DURATION)
timestamp = 0 timestamp = 0
start_episode_t = time.perf_counter() start_episode_t = time.perf_counter()