Repository navigation
[python] Speed up LeRobot worker startup with lazy fallback splits - #10732
Merged
JingsongLi merged 3 commits intoOct 22, 2026
Merged
Conversation
XiaoHongbo-Hope
marked this pull request as ready for review
October 21, 2026 16:33
Contributor
|
+1 |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Purpose
Native LeRobot readers still pickle the Python fallback splits into each spawned worker, even when those splits are never used. Omit them when native planning or reading is enabled, and rebuild them from the pinned snapshot only if Python fallback is needed. Python-only readers retain their splits and fallback scanners remain reusable across batches.
This addresses a worker-startup bottleneck found in the public Koch LeRobot benchmark: first-batch time fell from about 24.78 s to 4.87 s in the earlier local experiment (8 forkserver workers, batch 32). These are experiment results, not a fresh benchmark of this PR head.
Tests
git diff --checkpassed.