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Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

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Simon Alibert
2025-03-15 13:15:28 +01:00
parent fa8ba9e4e2 9f0a8a49d0
commit 2e9b144c56
10 changed files with 126 additions and 13 deletions
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14
lerobot/common/datasets/lerobot_dataset.py
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@@ -67,7 +67,7 @@ from lerobot.common.datasets.utils import (
)
from lerobot.common.datasets.video_utils import (
VideoFrame,
decode_video_frames_torchvision,
decode_video_frames,
encode_video_frames,
get_video_info,
)
@@ -462,8 +462,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
download_videos (bool, optional): Flag to download the videos. Note that when set to True but the
video files are already present on local disk, they won't be downloaded again. Defaults to
True.
video_backend (str | None, optional): Video backend to use for decoding videos. There is currently
a single option which is the pyav decoder used by Torchvision. Defaults to pyav.
video_backend (str | None, optional): Video backend to use for decoding videos. Defaults to torchcodec.
You can also use the 'pyav' decoder used by Torchvision, which used to be the default option, or 'video_reader' which is another decoder of Torchvision.
"""
super().__init__()
self.repo_id = repo_id
@@ -473,7 +473,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
self.episodes = episodes
self.tolerance_s = tolerance_s
self.revision = revision if revision else CODEBASE_VERSION
self.video_backend = video_backend if video_backend else "pyav"
self.video_backend = video_backend if video_backend else "torchcodec"
self.delta_indices = None
# Unused attributes
@@ -707,9 +707,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
item = {}
for vid_key, query_ts in query_timestamps.items():
video_path = self.root / self.meta.get_video_file_path(ep_idx, vid_key)
frames = decode_video_frames_torchvision(
video_path, query_ts, self.tolerance_s, self.video_backend
)
frames = decode_video_frames(video_path, query_ts, self.tolerance_s, self.video_backend)
item[vid_key] = frames.squeeze(0)
return item
@@ -1029,7 +1027,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
obj.delta_timestamps = None
obj.delta_indices = None
obj.episode_data_index = None
obj.video_backend = video_backend if video_backend is not None else "pyav"
obj.video_backend = video_backend if video_backend is not None else "torchcodec"
return obj