generator.js

async function* dataGenerator() {
  while (true) {
    const csvStream = fs.createReadStream(pathToCSV).pipe(csv({
      headers: ['center', 'left', 'right', 'steering', 'throttle', 'brake', 'speed'],
      mapValues: ({ value }) => value.trim()
    }));

    for await (const { center, left, right, steering } of csvStream) {
      const centerImageBuffer = fs.promises.readFile(center);
      const leftImageBuffer = fs.promises.readFile(left);
      const rightImageBuffer = fs.promises.readFile(right);

      const offset = 0.333;

      yield [await centerImageBuffer, Number(steering)];
      yield [await leftImageBuffer, Number(steering) + offset];
      yield [await rightImageBuffer, Number(steering) - offset];
    }

    csvStream.destroy();
  }
}