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feat(dataset): add streaming video encoding + HW encoder support (#2974)

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* feat(dataset): init stream encoding

* feat(dataset): use threads to fix frame pickle latency

* refactor(dataset): remove HW encoded related changes

* add lp (#2977)

* feat(dataset): add Hw encoding + log drop frames (#2978)

* chore(docs): add streaming video encoding guide

* fix(dataset): style docs + testing

* chore(docs): simplify sttreaming video encoding guide

* chore(dataset): add commands + streaming encoding default false + print note if false + queue default is now 30

* chore(docs): add verification note advice

* chore(dataset): adjusting defaults & docs for streaming encoding

* docs(scripts): improve docstrings

* test(dataset): polish streaming encoding tests

* chore(dataset): move FYI log related to streaming

* chore(dataset): add arg vcodec to suggestions

* refactor(dataset): better handling for auto and available vcodec

* chore(dataset): change log level

* docs(dataset): add note related to training performance vcodec

* docs(dataset): add more notes to streaming encoding

---------

Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Steven Palma
2026-02-23 13:57:43 +01:00
committed by GitHub
parent 5865170d36
commit e96339a3b4
16 changed files with 1532 additions and 55 deletions
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docs/source/unitree_g1.mdx
+8 -2
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@@ -229,7 +229,10 @@ lerobot-record \
--dataset.num_episodes=2 \
--dataset.episode_time_s=5 \
--dataset.reset_time_s=5 \
--dataset.push_to_hub=true
--dataset.push_to_hub=true \
--dataset.streaming_encoding=true \
# --dataset.vcodec=auto \
--dataset.encoder_threads=2
```
Example simulation dataset: [nepyope/teleop_test_sim](https://huggingface.co/datasets/nepyope/teleop_test_sim)
@@ -279,7 +282,10 @@ lerobot-record \
--dataset.num_episodes=2 \
--dataset.episode_time_s=5 \
--dataset.reset_time_s=5 \
--dataset.push_to_hub=true
--dataset.push_to_hub=true \
--dataset.streaming_encoding=true \
# --dataset.vcodec=auto \
--dataset.encoder_threads=2
```
**Note**: Update `server_address` to match your robot's camera server IP.