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feat(docker): add per-benchmark evaluation containers

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Add Dockerfile.benchmark (parameterized via ARG BENCHMARK), a
docker-compose.benchmark.yml with services for libero, libero_plus,
robomme, and robocasa, and a smoke_test_benchmark.sh that verifies
imports and CLI entry-points in each container.

Also add the missing `robocasa` optional dep group to pyproject.toml
(the docs already referenced `pip install ".[robocasa]"` but the group
was not defined).

Build a specific benchmark image:
  docker build --build-arg BENCHMARK=robomme \
    -f docker/Dockerfile.benchmark -t lerobot-benchmark-robomme .

Build all via compose:
  docker compose -f docker/docker-compose.benchmark.yml build

Smoke-test inside a container:
  docker compose -f docker/docker-compose.benchmark.yml run --rm robomme \
    bash docker/smoke_test_benchmark.sh

Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-03-20 21:43:04 -07:00
parent 285c500aef
commit 39cf11d5dc
4 changed files with 300 additions and 0 deletions
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pyproject.toml
+8
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@@ -194,6 +194,14 @@ libero-plus = ["lerobot[libero_plus]"]
robomme = [
"robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main ; sys_platform == 'linux'",
]
robocasa = [
"robocasa; sys_platform == 'linux'",
# robocasa's setup does not declare all runtime deps; list them here explicitly.
"robosuite>=1.4.0,<1.5.0; sys_platform == 'linux'",
"easydict>=1.9; sys_platform == 'linux'",
"scikit-image>=0.20.0; sys_platform == 'linux'",
"lerobot[scipy-dep]",
]
metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
# All