Update lerobot visualizer to send videos directly to Rerun #476
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What this does
Rather than using the lerobot loader to decode the video and sending individual images, this now sends the video files directly.
To support this I had to introduce a new
video_backend
calledraw
which skips the dataset decoding.I introduced a new flag
--decode-video
to maintain the old behavior.On my desktop this
How it was tested
New functionality:
Old functionality:
Also verified old image pathway still works on dataset without video:
Crude benchmark
This results in a 10x real speedup, a 100x processing-overhead speedup, and a 50x reduction in
.rrd
file size.Old pathway:
New pathway: