The 'episode_data' parameter was previously ignored, causing an error if provided. This change ensures it is correctly used, which allows for asynchronous episode saving by passing a copy of the episode buffer, preventing conflicts with the main data collection loop.
* LeRobotDataset video encoding: updated `save_episode` method and added `batch_encode_videos` method to handle video encoding based on `batch_encoding_size`, allowing for both immediate and batched encoding.
* LeRobotDataset video cleanup: Enabled individual episode cleanup and check for remaining PNG files before removing the `images` directory.
* LeRobotDataset - VideoEncodingManager: added proper handling of pending episodes (encoding, cleaning) on exit or recording failures.
* LeRobotDatasetMetadata: removed `update_video_info` to only update video info at episode index 0 encoding.
* Adjusted the `record` function to utilize the new encoding management logic.
* Removed `encode_videos` method from `LeRobotDataset` and `encode_episode_videos` outputs as they are nowhere used.
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Signed-off-by: Xingdong Zuo <zuoxingdong@users.noreply.github.com>
Co-authored-by: Xingdong Zuo <xingdong.zuo@navercorp.com>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
