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feat(envs): add LIBERO-plus robustness benchmark integration
- LiberoPlusEnv config (subclass of LiberoEnv, same gym interface) - Docker image installing LIBERO-plus fork via PYTHONPATH - CI workflow: 1-episode smoke eval with pepijn223/smolvla_libero_plus - pyproject.toml: libero_plus extra Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Pepijn
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Isolated benchmark image for LIBERO-plus integration tests.
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# Installs only lerobot[libero_plus] (LIBERO-plus from GitHub, dm-control, mujoco).
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#
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# Build: docker build -f docker/Dockerfile.benchmark.libero_plus -t lerobot-benchmark-libero-plus .
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# Run: docker run --gpus all --rm lerobot-benchmark-libero-plus lerobot-eval ...
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ARG CUDA_VERSION=12.4.1
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ARG OS_VERSION=22.04
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
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ARG PYTHON_VERSION=3.12
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ENV DEBIAN_FRONTEND=noninteractive \
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MUJOCO_GL=egl \
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PATH=/lerobot/.venv/bin:$PATH \
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CUDA_VISIBLE_DEVICES=0 \
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DEVICE=cuda
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# System deps — same set as Dockerfile.internal plus LIBERO-plus extras
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RUN apt-get update && apt-get install -y --no-install-recommends \
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software-properties-common build-essential git curl \
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libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
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libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
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cmake pkg-config ninja-build \
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libexpat1 libfontconfig1-dev libmagickwand-dev \
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&& add-apt-repository -y ppa:deadsnakes/ppa \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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python${PYTHON_VERSION} \
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python${PYTHON_VERSION}-venv \
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python${PYTHON_VERSION}-dev \
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&& curl -LsSf https://astral.sh/uv/0.8.0/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& usermod -aG sudo user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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WORKDIR /lerobot
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RUN chown -R user_lerobot:user_lerobot /lerobot
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USER user_lerobot
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ENV HOME=/home/user_lerobot \
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HF_HOME=/home/user_lerobot/.cache/huggingface \
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HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
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TORCH_HOME=/home/user_lerobot/.cache/torch \
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TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
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RUN uv venv --python python${PYTHON_VERSION}
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# Install only lerobot[libero_plus] — isolated from hf-libero and metaworld dep trees
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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# Use uv pip install (not uv sync) — uv sync resolves all extras across all
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# Python versions, hitting cross-extra numpy conflicts. pip-style install
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# only resolves the requested extras for the current platform.
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# Install lerobot with libero_plus and smolvla extras.
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# The libero git dep sometimes gets silently skipped by uv pip install
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# when embedded in self-referential extras, so install it explicitly too.
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# Step 1: install lerobot with extras (libero git dep may be silently skipped)
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RUN uv pip install --no-cache -e ".[libero_plus,smolvla]"
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# Step 2: LIBERO-plus has a nested libero/libero/ structure that neither uv pip
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# install from git nor editable installs handle correctly (metadata-only install).
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# Clone and add to PYTHONPATH as the only reliable way to make it importable.
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RUN git clone --depth=1 https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
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&& mkdir -p /home/user_lerobot/.libero \
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&& echo 'assets: /tmp' > /home/user_lerobot/.libero/config.yaml
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# Install LIBERO-plus deps (robosuite, bddl, easydict, mujoco, etc.) from setup.py.
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# Pin robosuite==1.4.1 (fork uses single_arm_env removed in v1.5+), then install
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# the remaining deps from the clone. --no-build-isolation avoids rebuilding lerobot.
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RUN uv pip install --no-cache "robosuite==1.4.1" bddl easydict mujoco matplotlib wand scikit-image gym \
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&& cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "."
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ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
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# Pre-download libero assets so nothing is fetched at runtime (CI timeout risk).
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# libero/libero/__init__.py prompts with input() when ~/.libero/config.yaml is
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# missing; write the config first so any import is non-interactive.
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# LIBERO-plus installs with a nested package structure, so find_spec('libero')
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# may return a namespace package without .origin. Use glob to locate bddl_files.
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ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
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# Find hf-libero's init_files in site-packages (shallow clone doesn't have them).
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# Copy them into the PYTHONPATH clone so both bddl_files (from clone) and
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# init_files (from pip) are in the same tree.
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RUN uv pip install --no-cache --no-deps "hf-libero>=0.1.3,<0.2.0"
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RUN HF_LIBERO=$(uv pip show hf-libero 2>/dev/null | grep Location | awk '{print $2}') && \
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if [ -d "${HF_LIBERO}/libero/libero/init_files" ]; then \
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cp -r "${HF_LIBERO}/libero/libero/init_files" ${LIBERO_PLUS_ROOT}/init_files; \
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fi && \
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# Uninstall hf-libero so that Python imports LIBERO-plus (from PYTHONPATH)
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# instead of vanilla hf-libero — LIBERO-plus has 2400+ perturbation tasks per
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# suite, vanilla has only 10.
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uv pip uninstall hf-libero 2>/dev/null || true
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RUN mkdir -p /home/user_lerobot/.libero && \
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python${PYTHON_VERSION} -c "\
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from huggingface_hub import snapshot_download; \
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snapshot_download(repo_id='lerobot/libero-assets', repo_type='dataset', \
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local_dir='/home/user_lerobot/.libero/assets')" && \
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printf "assets: /home/user_lerobot/.libero/assets\nbddl_files: ${LIBERO_PLUS_ROOT}/bddl_files\ndatasets: ${LIBERO_PLUS_ROOT}/../datasets\ninit_states: ${LIBERO_PLUS_ROOT}/init_files\n" \
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> /home/user_lerobot/.libero/config.yaml
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RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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