From f0830972f0ae97e1728f149f3c07ca9700252fad Mon Sep 17 00:00:00 2001 From: CarolinePascal Date: Wed, 13 May 2026 16:08:51 +0200 Subject: [PATCH] docs(warning): adding warning regarding encoding parameters modification --- docs/source/video_encoding_parameters.mdx | 7 +++++++ src/lerobot/datasets/aggregate.py | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/docs/source/video_encoding_parameters.mdx b/docs/source/video_encoding_parameters.mdx index c07f40c5b..a32781243 100644 --- a/docs/source/video_encoding_parameters.mdx +++ b/docs/source/video_encoding_parameters.mdx @@ -43,6 +43,13 @@ lerobot-record \ ## Tuning parameters + +The defaults are tuned to balance **compression ratio**, **visual quality**, and **decoding/seek speed** for typical robotics datasets. Changing them can affect both recording (CPU load, frame drops) and training (decoding throughput, image quality). + +Only override these parameters if you have a specific reason to, and measure the impact on your pipeline before relying on the new settings. + + + All flags below are prefixed with `--dataset.camera_encoder.` on the CLI. | Parameter | Type | Default | Description | diff --git a/src/lerobot/datasets/aggregate.py b/src/lerobot/datasets/aggregate.py index 90c5d6727..5db3f934d 100644 --- a/src/lerobot/datasets/aggregate.py +++ b/src/lerobot/datasets/aggregate.py @@ -81,7 +81,7 @@ def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMeta if fallback_keys: logging.warning( f"Merging heterogeneous or incomplete video encoder metadata for feature {vk}. " - f"Setting these keys to null (video.extra_options -> {fallback_keys}).", + f"Setting these keys to null: {fallback_keys}.", ) merged_info[vk]["info"] = {**base_video_info, **merged_encoder_info}