Pepijn 343ecd7980 feat(streaming): optional GPU (NVDEC) video decode device ...

Add `video_decode_device` to StreamingLeRobotDataset and a `device` arg to
VideoDecoderCache, passed to torchcodec's VideoDecoder. "cuda" offloads H.264/H.265
decode to the GPU's dedicated NVDEC engine (independent of the training SMs); requires
a CUDA-enabled torchcodec build.

benchmark: `--video_decode_device` flag. With cuda + num_workers>0 it forces the
`spawn` start method (CUDA cannot init in forked workers) and disables CPU pin_memory
(frames are already on-GPU). Decode device is recorded in results and the output
filename. README documents the NVDEC option and its concurrency/IPC caveats.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

2026-06-09 15:47:11 +02:00

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streaming

feat(streaming): optional GPU (NVDEC) video decode device

2026-06-09 15:47:11 +02:00