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speed up benchmark eval scheduling and docker workflow

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This commit is contained in:
Pepijn Kooijmans
2026-03-21 06:09:01 +01:00
parent f60d163588
commit 285c500aef
18 changed files with 1451 additions and 235 deletions
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docker/Dockerfile.eval-base
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# Copyright 2026 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.
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:$PATH
RUN apt-get update && apt-get install -y --no-install-recommends \
software-properties-common build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa libosmesa6 \
ffmpeg libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
cmake pkg-config ninja-build \
&& add-apt-repository -y ppa:deadsnakes/ppa \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
python${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 \
&& 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 --seed --python python${PYTHON_VERSION}
COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv pip install --no-cache .
COPY --chown=user_lerobot:user_lerobot . .
CMD ["/bin/bash"]
docker/Dockerfile.eval-libero
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
FROM lerobot-eval-base:latest
RUN PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -m pip install --no-cache-dir ".[libero]" \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import libero"
CMD ["/bin/bash"]
docker/Dockerfile.eval-libero-plus
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
FROM lerobot-eval-base:latest
RUN PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -m pip install --no-cache-dir ".[libero_plus]" \
&& git clone --depth 1 https://github.com/sylvestf/LIBERO-plus.git /tmp/LIBERO-plus \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import pathlib, site; pathlib.Path(site.getsitepackages()[0], 'libero_plus_repo.pth').write_text('/tmp/LIBERO-plus\n')" \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import libero, robosuite, bddl"
CMD ["/bin/bash"]
docker/Dockerfile.eval-metaworld
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# Copyright 2026 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.
FROM lerobot-eval-base:latest
RUN PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -m pip install --no-cache-dir ".[metaworld]" \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import metaworld"
CMD ["/bin/bash"]
docker/Dockerfile.eval-robocasa
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# Copyright 2026 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.
FROM lerobot-eval-base:latest
RUN PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -m pip install --no-cache-dir ".[robocasa]" \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import robocasa"
CMD ["/bin/bash"]
docker/Dockerfile.eval-robomme
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# Copyright 2026 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.
FROM lerobot-eval-base:latest
RUN PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -m pip install --no-cache-dir ".[robomme]" \
&& PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH \
/lerobot/.venv/bin/python -c "import robomme"
CMD ["/bin/bash"]