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Pepijn
99840ebef3
LeRobot v3 data shards must hold exactly one row group per episode so a reader can fetch episode i with pq.ParquetFile(path).read_row_group(i) (a byte-range read) instead of loading the whole shard. The recording writer already does this (one write_table per episode); the aggregate and lerobot-annotate re-write paths instead concatenated many episodes and wrote them in one shot, collapsing the file to a single row group. - io_utils: add write_table_one_row_group_per_episode (one ParquetWriter, one write_table per episode — same pattern as the recording writer); to_parquet_with_hf_images embeds images then writes per-episode row groups; to_parquet_one_row_group_per_episode wraps it for plain frames - aggregate: route non-image data writes through the per-episode writer; leave the episodes-metadata parquet untouched (already one row/episode) - annotate: rewrite shards via the per-episode writer instead of a single bulk pq.write_table - tests: invariant coverage through the aggregate (image + video) and annotate paths No change to on-disk schema, paths, naming, rollover thresholds, or compression. Readers stay backward-compatible (old collapsed files load).