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ci(benchmarks): add isolated integration tests for libero and metaworld

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Each benchmark gets its own Docker image (lerobot[libero] / lerobot[metaworld]
only) so incompatible dep trees cannot collide. A 1-episode smoke eval runs
per benchmark on GPU runners.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-07 21:52:31 +02:00
parent 861a7c7068
commit 0bc68740f4
3 changed files with 315 additions and 0 deletions
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docker/Dockerfile.benchmark.libero
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Isolated benchmark image for LIBERO integration tests.
# Installs only lerobot[libero] so its dep tree (hf-libero, dm-control, mujoco)
# cannot conflict with other benchmarks.
#
# Build: docker build -f docker/Dockerfile.benchmark.libero -t lerobot-benchmark-libero .
# Run: docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval ...
ARG CUDA_VERSION=12.4.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
ARG PYTHON_VERSION=3.12
ENV DEBIAN_FRONTEND=noninteractive \
MUJOCO_GL=egl \
PATH=/lerobot/.venv/bin:$PATH \
CUDA_VISIBLE_DEVICES=0 \
DEVICE=cuda
# System deps — same set as Dockerfile.internal
RUN apt-get update && apt-get install -y --no-install-recommends \
software-properties-common build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
cmake pkg-config ninja-build \
&& add-apt-repository -y ppa:deadsnakes/ppa \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
python${PYTHON_VERSION} \
python${PYTHON_VERSION}-venv \
python${PYTHON_VERSION}-dev \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \
&& useradd --create-home --shell /bin/bash user_lerobot \
&& usermod -aG sudo user_lerobot \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
WORKDIR /lerobot
RUN chown -R user_lerobot:user_lerobot /lerobot
USER user_lerobot
ENV HOME=/home/user_lerobot \
HF_HOME=/home/user_lerobot/.cache/huggingface \
HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
TORCH_HOME=/home/user_lerobot/.cache/torch \
TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
RUN uv venv --python python${PYTHON_VERSION}
# Install only lerobot[libero] — completely isolated from metaworld's dep tree
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache ".[libero]"
RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
COPY --chown=user_lerobot:user_lerobot . .
CMD ["/bin/bash"]
docker/Dockerfile.benchmark.metaworld
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Isolated benchmark image for MetaWorld integration tests.
# Installs only lerobot[metaworld] so its dep tree (metaworld==3.0.0, mujoco>=3)
# cannot conflict with other benchmarks.
#
# Build: docker build -f docker/Dockerfile.benchmark.metaworld -t lerobot-benchmark-metaworld .
# Run: docker run --gpus all --rm lerobot-benchmark-metaworld lerobot-eval ...
ARG CUDA_VERSION=12.4.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
ARG PYTHON_VERSION=3.12
ENV DEBIAN_FRONTEND=noninteractive \
MUJOCO_GL=egl \
PATH=/lerobot/.venv/bin:$PATH \
CUDA_VISIBLE_DEVICES=0 \
DEVICE=cuda
# System deps — same set as Dockerfile.internal
RUN apt-get update && apt-get install -y --no-install-recommends \
software-properties-common build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
cmake pkg-config ninja-build \
&& add-apt-repository -y ppa:deadsnakes/ppa \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
python${PYTHON_VERSION} \
python${PYTHON_VERSION}-venv \
python${PYTHON_VERSION}-dev \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \
&& useradd --create-home --shell /bin/bash user_lerobot \
&& usermod -aG sudo user_lerobot \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
WORKDIR /lerobot
RUN chown -R user_lerobot:user_lerobot /lerobot
USER user_lerobot
ENV HOME=/home/user_lerobot \
HF_HOME=/home/user_lerobot/.cache/huggingface \
HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
TORCH_HOME=/home/user_lerobot/.cache/torch \
TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
RUN uv venv --python python${PYTHON_VERSION}
# Install only lerobot[metaworld] — completely isolated from libero's dep tree
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache ".[metaworld]"
RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
COPY --chown=user_lerobot:user_lerobot . .
CMD ["/bin/bash"]