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Fix StreamingLeRobotDataset using global index for video frame lookup #3110

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Fix StreamingLeRobotDataset using global index for video frame lookup #3110

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4 changes: 2 additions & 2 deletions src/lerobot/datasets/streaming_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -308,8 +308,8 @@ def make_frame(self, dataset_iterator: Backtrackable) -> Generator:
# Get episode index from the item
ep_idx = item["episode_index"]

# "timestamp" restarts from 0 for each episode, whereas we need a global timestep within the single .mp4 file (given by index/fps)
current_ts = item["index"] / self.fps
# Use per-episode timestamp (not global index) for video frame lookup
current_ts = item["timestamp"].item() if "timestamp" in item else item["frame_index"].item() / self.fps

episode_boundaries_ts = {
key: (
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