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fix(ci): pre-download libero-assets at image build time

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The 586-file lerobot/libero-assets dataset was being fetched at runtime
(on first reset()) which consistently hit a 504 Gateway Timeout on CI
runners. Downloading at build time bakes the assets into the image so
no network call is needed during the smoke eval.

The config.yaml now points assets → ~/.libero/assets (the downloaded
snapshot) instead of the bundled (empty) package path.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-08 16:14:34 +02:00
parent 225bec6552
commit 4131f22ea1
1 changed files with 9 additions and 5 deletions
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docker/Dockerfile.benchmark.libero
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@@ -67,15 +67,19 @@ COPY --chown=user_lerobot:user_lerobot src/ src/
RUN uv sync --locked --extra libero --extra smolvla --no-cache RUN uv sync --locked --extra libero --extra smolvla --no-cache
# Pre-create libero's config file pointing to the bundled package assets. # Pre-download lerobot/libero-assets from HF Hub so nothing is fetched at
# libero/libero/__init__.py calls input() when ~/.libero/config.yaml is missing. # runtime (which times out on CI). Point the libero config at the cached path.
# We use importlib.util.find_spec (does NOT execute libero, so no prompt) to locate # libero/libero/__init__.py calls input() when ~/.libero/config.yaml is missing,
# the package, then write the config to the correct bundled paths. # so we write the config before any libero import can happen.
RUN LIBERO_DIR=$(python${PYTHON_VERSION} -c \ RUN LIBERO_DIR=$(python${PYTHON_VERSION} -c \
"import importlib.util, os; s=importlib.util.find_spec('libero'); \ "import importlib.util, os; s=importlib.util.find_spec('libero'); \
print(os.path.join(os.path.dirname(s.origin), 'libero'))") && \ print(os.path.join(os.path.dirname(s.origin), 'libero'))") && \
mkdir -p /home/user_lerobot/.libero && \ mkdir -p /home/user_lerobot/.libero && \
printf "assets: ${LIBERO_DIR}/assets\nbddl_files: ${LIBERO_DIR}/bddl_files\ndatasets: ${LIBERO_DIR}/../datasets\ninit_states: ${LIBERO_DIR}/init_files\n" \ python${PYTHON_VERSION} -c "\
from huggingface_hub import snapshot_download; \
snapshot_download(repo_id='lerobot/libero-assets', repo_type='dataset', \
local_dir='/home/user_lerobot/.libero/assets')" && \
printf "assets: /home/user_lerobot/.libero/assets\nbddl_files: ${LIBERO_DIR}/bddl_files\ndatasets: ${LIBERO_DIR}/../datasets\ninit_states: ${LIBERO_DIR}/init_files\n" \
> /home/user_lerobot/.libero/config.yaml > /home/user_lerobot/.libero/config.yaml
RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas