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2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 CarolinePascal
|
096fdd3ea5 | ||
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CarolinePascal
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6af4eb6da4 |
@@ -6,12 +6,11 @@ Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel
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You can set these parameters from the CLI with `--dataset.rgb_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
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<Tip>
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Video storage must be on for `rgb_encoder` to have any effect —
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`use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the
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recording default). With video off, inputs stay as images and `rgb_encoder` is
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ignored.
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</Tip>
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> [!TIP]
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> Video storage must be on for `rgb_encoder` to have any effect —
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> `use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the
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> recording default). With video off, inputs stay as images and `rgb_encoder` is
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> ignored.
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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).
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@@ -43,12 +42,10 @@ lerobot-record \
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## Tuning parameters
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<Tip warning={true}>
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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).
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Only override these parameters if you have a specific reason to, and measure the impact on your pipeline before relying on the new settings.
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</Tip>
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> [!WARNING]
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> 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).
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>
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> Only override these parameters if you have a specific reason to, and measure the impact on your pipeline before relying on the new settings.
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All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
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@@ -69,25 +66,92 @@ All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
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Depth maps (Intel RealSense, Reachy 2) are stored as their **own video streams** alongside the RGB streams. Raw depth (`uint16` millimetres or `float32` metres) can't survive an 8-bit codec, so LeRobot **quantizes** each map to a 12-bit code (`[0, 4095]`) — logarithmically by default, to match the `1/depth` error profile of depth sensors — then packs it into a high-bit-depth pixel format (`gray12le`) and encodes it with a 12-bit codec.
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```mermaid
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flowchart LR
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A["Raw depth (uint16 mm / float32 m)"] --> B["Clip to depth_min, depth_max"]
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B --> C["Quantize to 12-bit code 0–4095 (log or linear)"]
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C --> D["Pack into gray12le"]
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D --> E["Encode video (hevc Main 12)"]
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E --> F[("MP4 + metadata: depth_min/max, shift, use_log")]
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F -. "load time (depth_output_unit)" .-> G["Dequantize to mm or m"]
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classDef input fill:#e3f2fd,stroke:#1565c0,color:#0d47a1;
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classDef encode fill:#ede7f6,stroke:#5e35b1,color:#311b92;
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classDef store fill:#fff8e1,stroke:#f9a825,color:#e65100;
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classDef load fill:#e8f5e9,stroke:#2e7d32,color:#1b5e20;
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class A input;
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class B,C,D,E encode;
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class F store;
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class G load;
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```
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<div style="margin:28px 0;padding:14px 0;">
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<div style="margin:0 auto;display:flex;flex-wrap:wrap;justify-content:center;align-items:stretch;gap:6px;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;font-size:14px;font-weight:600;color:#1B1B1D;">
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#DBEAFE;color:#1D4ED8;border-radius:9px;padding:8px 12px;">
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<span>Raw depth</span>
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<span style="font-size:11px;font-weight:400;color:#3B6FD4;white-space:nowrap;">
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uint16 mm
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<br />
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float32 m
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</span>
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</span>
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<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">
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→
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</span>
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<div style="border:2px dashed #C4B5FD;border-radius:13px;padding:18px 12px 12px;position:relative;display:flex;align-items:stretch;gap:6px;">
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<span style="position:absolute;top:-10px;left:12px;background:#fff;padding:0 6px;font-size:11px;font-weight:700;color:#7E22CE;text-transform:uppercase;letter-spacing:0.5px;white-space:nowrap;">
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Record time
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;">
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<span>Clip</span>
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<span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">
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to [depth_min,
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<br />
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depth_max]
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</span>
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</span>
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<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">
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→
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;">
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<span>Quantize</span>
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<span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">
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12-bit codes 0–4095
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<br />
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log (default) or linear
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</span>
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</span>
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<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">
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→
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;">
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<span>Pack</span>
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<span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">
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into gray12le
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<br />
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plane
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</span>
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</span>
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<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">
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→
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#F3E8FF;color:#7E22CE;border-radius:9px;padding:8px 12px;">
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<span>Encode</span>
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<span style="font-size:11px;font-weight:400;color:#9061C2;white-space:nowrap;">
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HEVC
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<br />
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Main 12
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</span>
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</span>
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</div>
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<span style="display:flex;align-items:center;font-size:16px;color:#C3CBD9;">
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→
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#FEF3C7;color:#B45309;border-radius:9px;padding:8px 12px;">
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<span>MP4</span>
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<span style="font-size:11px;font-weight:400;color:#C77D18;white-space:nowrap;">
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stored
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<br />
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stream
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</span>
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</span>
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<span style="display:flex;align-items:center;font-size:16px;color:#34A06B;">
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→
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</span>
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<div style="border:2px dashed #6EE7B7;border-radius:13px;padding:18px 12px 12px;position:relative;display:flex;align-items:center;gap:6px;">
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<span style="position:absolute;top:-10px;left:12px;background:#fff;padding:0 6px;font-size:11px;font-weight:700;color:#047857;text-transform:uppercase;letter-spacing:0.5px;white-space:nowrap;">
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Load time
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</span>
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<span style="display:flex;flex-direction:column;justify-content:center;align-items:center;text-align:center;gap:2px;background:#D1FAE5;color:#047857;border-radius:9px;padding:8px 12px;">
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<span>Dequantize</span>
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<span style="font-size:11px;font-weight:400;color:#059669;white-space:nowrap;">
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to mm / m
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</span>
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</span>
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</div>
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</div>
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</div>
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Configure the depth pipeline through a parallel **`depth_encoder`** block (`DepthEncoderConfig`). It shares every `RGBEncoderConfig` field (`vcodec`, `pix_fmt`, `crf`, …) and adds four quantizer knobs, set via `--dataset.depth_encoder.<field>`:
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@@ -168,15 +232,81 @@ After the first episode of a video stream is encoded, the encoder configuration
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Two sources contribute to the `info` block:
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- **Stream-derived** (read back from the encoded MP4 with PyAV): `video.height`, `video.width`, `video.codec`, `video.pix_fmt`, `video.fps`, `video.channels`, `is_depth_map`, plus `audio.*` if an audio stream is present.
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- **Encoder-derived** (taken from `RGBEncoderConfig` or `DepthEncoderConfig`): `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.video_backend`, `video.extra_options`.
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<div style="display:flex;flex-wrap:wrap;gap:14px;margin:20px 0;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;">
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<div style="flex:1 1 280px;border:1px solid #BFDBFE;border-radius:12px;overflow:hidden;">
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<div style="background:#DBEAFE;color:#1D4ED8;font-weight:700;font-size:14px;padding:8px 14px;">
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Stream-derived
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</div>
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<div style="padding:12px 14px;">
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<div style="font-size:13px;color:#4B5563;margin-bottom:10px;">
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Read back from the encoded MP4 with PyAV.
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</div>
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<div style="display:flex;flex-wrap:wrap;gap:6px;">
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.height
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.width
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.codec
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.pix_fmt
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.fps
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.channels
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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is_depth_map
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</code>
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<code style="background:#EFF6FF;color:#1D4ED8;border-radius:6px;padding:2px 8px;font-size:12px;">
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audio.*
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</code>
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</div>
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</div>
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</div>
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<div style="flex:1 1 280px;border:1px solid #DDD6FE;border-radius:12px;overflow:hidden;">
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<div style="background:#F3E8FF;color:#7E22CE;font-weight:700;font-size:14px;padding:8px 14px;">
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Encoder-derived
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</div>
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<div style="padding:12px 14px;">
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<div style="font-size:13px;color:#4B5563;margin-bottom:10px;">
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Taken from <code style="font-size:12px;">RGBEncoderConfig</code> /{" "}
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<code style="font-size:12px;">DepthEncoderConfig</code>.
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</div>
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<div style="display:flex;flex-wrap:wrap;gap:6px;">
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.g
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</code>
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.crf
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</code>
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.preset
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</code>
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.fast_decode
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</code>
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.video_backend
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</code>
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<code style="background:#FAF5FF;color:#7E22CE;border-radius:6px;padding:2px 8px;font-size:12px;">
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video.extra_options
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</code>
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</div>
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</div>
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</div>
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</div>
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<Tip>
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This block is populated **once**, from the **first** episode. It assumes every
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episode in the dataset was encoded with the same `rgb_encoder`. Changing
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encoder settings partway through a recording is not supported — the
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`info.json` will only reflect the parameters used for the first episode.
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</Tip>
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> [!IMPORTANT]
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> This block is populated **once**, from the **first** episode. It assumes every
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> episode in the dataset was encoded with the same `rgb_encoder`. Changing
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> encoder settings partway through a recording is not supported — the
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> `info.json` will only reflect the parameters used for the first episode.
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---
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@@ -184,5 +314,35 @@ Two sources contribute to the `info` block:
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When aggregating datasets with `merge_datasets`, video files are concatenated as-is (no re-encoding), and encoder fields in `info.json` are merged per-key:
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- **Stream-derived fields must match** across sources: `video.codec`, `video.pix_fmt`, `video.height`, `video.width`, `video.fps`. Otherwise FFmpeg's concat demuxer fails.
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- **Encoder-tuning fields are merged loosely**: `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.extra_options`. If every source agrees, the value is kept; if not, it's set to `null` (or `{}` for `video.extra_options`) and a warning is logged.
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<div style="display:flex;flex-direction:column;gap:12px;margin:20px 0;font-family:'Source Sans 3',ui-sans-serif,system-ui,sans-serif;">
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<div style="display:flex;gap:12px;align-items:flex-start;border-left:3px solid #F87171;background:#FEF2F2;border-radius:0 10px 10px 0;padding:12px 14px;">
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<span style="flex:none;background:#FEE2E2;color:#B91C1C;font-weight:700;font-size:11px;text-transform:uppercase;letter-spacing:0.4px;border-radius:6px;padding:3px 8px;margin-top:1px;white-space:nowrap;">
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Must match
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</span>
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<span style="font-size:14px;color:#1B1B1D;">
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Stream-derived fields — <code style="font-size:12px;">video.codec</code>,{" "}
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<code style="font-size:12px;">video.pix_fmt</code>,{" "}
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<code style="font-size:12px;">video.height</code>,{" "}
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<code style="font-size:12px;">video.width</code>,{" "}
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<code style="font-size:12px;">video.fps</code> — must match across
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sources, otherwise FFmpeg's concat demuxer fails.
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</span>
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</div>
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<div style="display:flex;gap:12px;align-items:flex-start;border-left:3px solid #34D399;background:#ECFDF5;border-radius:0 10px 10px 0;padding:12px 14px;">
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<span style="flex:none;background:#D1FAE5;color:#047857;font-weight:700;font-size:11px;text-transform:uppercase;letter-spacing:0.4px;border-radius:6px;padding:3px 8px;margin-top:1px;white-space:nowrap;">
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Merged loosely
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</span>
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<span style="font-size:14px;color:#1B1B1D;">
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Encoder-tuning fields — <code style="font-size:12px;">video.g</code>,{" "}
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<code style="font-size:12px;">video.crf</code>,{" "}
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<code style="font-size:12px;">video.preset</code>,{" "}
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<code style="font-size:12px;">video.fast_decode</code>,{" "}
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<code style="font-size:12px;">video.extra_options</code>. If every source
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agrees, the value is kept; if not, it's set to{" "}
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<code style="font-size:12px;">null</code> (or{" "}
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<code style="font-size:12px;">{}</code> for{" "}
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<code style="font-size:12px;">video.extra_options</code>) and a warning is
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logged.
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</span>
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</div>
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</div>
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Reference in New Issue
Block a user