[python] Reduce LeRobot DataLoader worker startup time - #9888
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LeRobot's in-memory episode
Datasetmakesforkserverworker payloads exceed the process pipe capacity, delaying the first batch. Compress the standard pickle for Paimon-created episode metadata; workers restore the originalDatasetstate.ALOHA CPU/local, 8
forkserverworkers: first-batch median 7.83s (3 seeds; unoptimized: 27.72s). Hot throughput stays near 62 samples/s, and sample order matches. PyArrow 19/22: 87 LeRobot tests passed on each.Long term, use
datasets5's Arrow-onlyInMemoryTableserialization, which rebuilds derived batch indexes in each worker, and remove this compression after LeRobot and PyPaimon compatibility is verified.