Fix memory leak in LeRobotDataset._save_episode_table #1113
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This commit fixes a memory leak in the LeRobotDataset class that caused memory usage to grow continuously when processing multiple episodes. The issue was in the _save_episode_table method where dataset objects were being concatenated and retained in memory. The fix resets self.hf_dataset after each episode is saved to disk, preventing memory accumulation while preserving functionality.
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Nice I am taking this into account in: #969 |
imstevenpmwork
added
enhancement
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Not sure when the V3 release is planned, but can we get this merged asap? I'm recording hundreds of sim episodes and this is definitely an issue. |
Hey sorry for the late reply. We will merge dataset v3 after the port of processors 😄 |
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Fix memory leak in LeRobotDataset
Description
This PR fixes a memory leak in the
LeRobotDatasetclass that causes memory usage to grow continuously when processing multiple episodes sequentially.Issue
When converting data to LeRobot format and processing multiple episodes in sequence, memory usage increases continuously without being released. Through memory profiling, I identified the issue in the
_save_episode_tablemethod, specifically with how dataset objects are accumulated in memory.Solution
Modified the
_save_episode_tablemethod to:self.hf_datasetto a minimal empty dataset after saving, instead of accumulating dataThis approach preserves all functionality while preventing memory accumulation.
Validation
Tested with multiple episodes conversion: