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[python] Support Episode video remux during LeRobot import - #10819
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Purpose
LeRobot Episodes can share a long source video. Copying that video into multiple file groups duplicates unrelated frames and increases the cost of opening videos during training.
Changes
Add opt-in
write.lerobot.remux-episodes=trueto copy Episode video packets into separate MP4 payloads without re-encoding. Preserve decoding dependencies, normalize timestamps, and remap frame descriptors to the new payloads. Generated clips include keyframe indexes.The default import path is unchanged. PyAV is required; clips are bounded to 64 MiB and 65,536 packets, and ambiguous timestamps fail the import.
Validation
Packet-copy pixel checks with B-frames, Episode boundary roundoff and size limits; multi-Episode, two-camera import and training readback, including DataLoader workers.