From 26ff40ddd784280efc133a8e5af1a76e5ac731c2 Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Mon, 11 May 2026 19:47:55 +0200 Subject: [PATCH] chore(deps): cap torch ceiling at <2.12, pin Linux wheels to cu128 (#3570) * chore(deps): ceiling + cuda * ci: bump cuda version docker image * ci: add cpu wheel to release workflow * chore(deps): update uv.lock * docs: update installation with cuda note --- .github/workflows/release.yml | 3 +- docker/Dockerfile.benchmark.robotwin | 2 +- docker/Dockerfile.internal | 2 +- docs/source/installation.mdx | 50 ++++ pyproject.toml | 20 +- uv.lock | 392 +++++++++++++++++---------- 6 files changed, 327 insertions(+), 142 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index aad52cf07..1b4088ad7 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -152,13 +152,14 @@ jobs: BASE_VERSION="${VERSION%%-*}" echo "Installing pre-release version $BASE_VERSION from TestPyPI..." uv pip install \ + --torch-backend cpu \ --index-url https://test.pypi.org/simple/ \ --extra-index-url https://pypi.org/simple \ --index-strategy unsafe-best-match \ "lerobot[all]==$BASE_VERSION" else echo "Installing release version $VERSION from PyPI..." - uv pip install "lerobot[all]==$VERSION" + uv pip install --torch-backend cpu "lerobot[all]==$VERSION" fi - name: Check lerobot version run: uv run python -c "import lerobot; print(lerobot.__version__)" diff --git a/docker/Dockerfile.benchmark.robotwin b/docker/Dockerfile.benchmark.robotwin index 8f27c26dd..8c4de6594 100644 --- a/docker/Dockerfile.benchmark.robotwin +++ b/docker/Dockerfile.benchmark.robotwin @@ -35,7 +35,7 @@ USER root ARG ROBOTWIN_SHA=0aeea2d669c0f8516f4d5785f0aa33ba812c14b4 RUN apt-get update \ && apt-get install -y --no-install-recommends \ - cuda-nvcc-12-6 cuda-cudart-dev-12-6 \ + cuda-nvcc-12-8 cuda-cudart-dev-12-8 \ libvulkan1 vulkan-tools \ && mkdir -p /usr/share/vulkan/icd.d \ && echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \ diff --git a/docker/Dockerfile.internal b/docker/Dockerfile.internal index c48e61bbb..19f0167b3 100644 --- a/docker/Dockerfile.internal +++ b/docker/Dockerfile.internal @@ -18,7 +18,7 @@ # docker build -f docker/Dockerfile.internal -t lerobot-internal . # Configure the base image for CI with GPU access -ARG CUDA_VERSION=12.6.3 +ARG CUDA_VERSION=12.8.1 ARG OS_VERSION=24.04 FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION} diff --git a/docs/source/installation.mdx b/docs/source/installation.mdx index 1d772fc97..ebe32ffdf 100644 --- a/docs/source/installation.mdx +++ b/docs/source/installation.mdx @@ -207,6 +207,56 @@ pip install 'lerobot[feetech]' # Feetech motor support _Multiple extras can be combined (e.g., `.[core_scripts,pi,pusht]`). For a full list of available extras, refer to `pyproject.toml`._ +### PyTorch CUDA variant (Linux only) + +On Linux, the install path determines which CUDA wheel you get. macOS and Windows installs use the PyPI default (MPS / CPU / CUDA-Windows wheel respectively) and can skip this section. + + + + + + +**Source install via `uv` (`uv sync` or `uv pip install -e .`)** + +`torch` and `torchvision` are pinned by the project to the **CUDA 12.8** PyTorch index (`https://download.pytorch.org/whl/cu128`, driver floor **570.86**) — covers Ampere/Ada/Hopper/Blackwell GPUs. No action needed for typical NVIDIA setups. + +To override for a different CUDA variant: + +```bash +uv pip install --force-reinstall torch torchvision \ + --index-url https://download.pytorch.org/whl/cu126 # older drivers; or cu130 for Blackwell on driver ≥ 580 +``` + + + + +**Source install via `pip`/`conda`, or `pip install lerobot` from PyPI** + +PyPI default torch wheel is currently a cu130-bundled Linux wheel, driver floor **580.65**. + +To pick a specific CUDA variant: + +**Using `pip` or `conda`** — install torch first with an explicit index, then lerobot: + +```bash +pip install --index-url https://download.pytorch.org/whl/cu128 torch torchvision +pip install -e ".[all]" # source +# — or — +pip install lerobot # from PyPI +``` + +**Using `uv` to install from PyPI** — one-liner via `--torch-backend` (uv ≥ 0.6): + +```bash +uv pip install --torch-backend cu128 lerobot +``` + +Supported values include `auto`, `cpu`, `cu126`, `cu128`, `cu129`, `cu130`, plus various `rocm*` and `xpu`. Swap as needed for your driver. + + + + + ### Troubleshooting If you encounter build errors, you may need to install additional system dependencies: `cmake`, `build-essential`, and `ffmpeg libs`. diff --git a/pyproject.toml b/pyproject.toml index 7f9ad2141..4deb34034 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,8 +59,8 @@ keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artifici dependencies = [ # Core ML - "torch>=2.7,<2.13.0", - "torchvision>=0.22.0,<0.28.0", + "torch>=2.7,<2.12.0", + "torchvision>=0.22.0,<0.27.0", "numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless. "opencv-python-headless>=4.9.0,<4.14.0", "Pillow>=10.0.0,<13.0.0", @@ -99,7 +99,7 @@ dataset = [ "pandas>=2.0.0,<3.0.0", # NOTE: Transitive dependency of datasets "pyarrow>=21.0.0,<30.0.0", # NOTE: Transitive dependency of datasets "lerobot[av-dep]", - "torchcodec>=0.3.0,<0.13.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10), 0.11 needs torch==2.11, 0.12 needs torch==2.12. + "torchcodec>=0.3.0,<0.12.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10), 0.11 needs torch==2.11, 0.12 needs torch==2.12. "jsonlines>=4.0.0,<5.0.0", ] training = [ @@ -293,6 +293,20 @@ lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main" lerobot-rollout="lerobot.scripts.lerobot_rollout:main" # ---------------- Tool Configurations ---------------- + +# cu128 wheels keep broad hardware reach; the driver floor is 570.86. +# To use a different CUDA variant, reinstall torch with an explicit index, e.g.: +# uv pip install --force-reinstall torch torchvision \ +# --index-url https://download.pytorch.org/whl/cu130 +[[tool.uv.index]] +name = "pytorch-cu128" +url = "https://download.pytorch.org/whl/cu128" +explicit = true + +[tool.uv.sources] +torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }] +torchvision = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }] + [tool.setuptools.package-data] lerobot = ["envs/*.json"] diff --git a/uv.lock b/uv.lock index e2c08bf3e..f09c4a64f 100644 --- a/uv.lock +++ b/uv.lock @@ -60,7 +60,8 @@ dependencies = [ { name = "psutil" }, { name = 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