mirror of
https://github.com/huggingface/lerobot.git
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Merge branch 'main' into feat/vlabench-benchmark
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Pepijn
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# Copyright 2026 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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# Benchmark image for LIBERO-plus integration tests.
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# Extends the nightly GPU image (which has lerobot[all]) with the LIBERO-plus
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# fork source + its 6.4 GB perturbation assets.
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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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FROM huggingface/lerobot-gpu:latest
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ENV MUJOCO_GL=egl
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# unzip for the 6.4 GB assets.zip; the rest are LIBERO-plus build-time extras
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# (wand / ImageMagick / fontconfig) not in the nightly base.
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USER root
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RUN apt-get update \
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&& apt-get install -y --no-install-recommends \
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unzip libexpat1 libfontconfig1-dev libmagickwand-dev \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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USER user_lerobot
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# robosuite==1.4.1 is mandatory (the fork uses `single_arm_env` removed in
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# v1.5+). The rest are LIBERO-plus runtime deps pulled from its setup.py.
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# We install these explicitly instead of via the [libero_plus] extra because
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# the extra's `libero @ git+...` dep installs as a namespace package and then
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# clone and PYTHONPATH-override it below.
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RUN uv pip install --no-cache \
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"robosuite==1.4.1" \
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"bddl==1.0.1" \
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"easydict==1.13" \
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"mujoco==3.7.0" \
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"matplotlib==3.10.8" \
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"Wand==0.6.13" \
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"scikit-image==0.25.2" \
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"gym==0.26.2"
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# Clone LIBERO-plus and make it importable as `libero`. The nightly base has
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# hf-libero (10 tasks) preinstalled via lerobot[libero]; uninstall it so
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# Python resolves `import libero` to the 2402-task LIBERO-plus module instead.
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# Pinned to the current upstream main SHA so benchmark builds stay reproducible.
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ARG LIBERO_PLUS_SHA=4976dc3
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ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
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RUN git clone https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
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&& git -C /home/user_lerobot/libero-plus checkout ${LIBERO_PLUS_SHA} \
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&& cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "." \
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&& (uv pip uninstall hf-libero 2>/dev/null || true)
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ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"
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# Perturbation textures/scenes: bddl_base_domain.py resolves XMLs via
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# DIR_PATH/../assets (package-relative, ignoring ~/.libero/config.yaml). All
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# 2402 tasks reference files that ship only in Sylvest/LIBERO-plus's
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# assets.zip (6.4 GB) under a deep author-internal prefix — extract and
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# flatten it under ${LIBERO_PLUS_ROOT}/assets.
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RUN python -c "\
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from huggingface_hub import hf_hub_download; \
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hf_hub_download(repo_id='Sylvest/LIBERO-plus', repo_type='dataset', \
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filename='assets.zip', local_dir='/tmp/libero-plus-dl')" \
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&& unzip -q /tmp/libero-plus-dl/assets.zip -d /tmp/libero-plus-dl/extract \
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&& ASSETS_DIR=$(find /tmp/libero-plus-dl/extract -type d -name assets | head -1) \
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&& mv "${ASSETS_DIR}" ${LIBERO_PLUS_ROOT}/assets \
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&& rm -rf /tmp/libero-plus-dl
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# Point ~/.libero/config.yaml at the clone so LIBERO-plus's imports are
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# non-interactive (it calls input() when the config is missing).
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RUN mkdir -p /home/user_lerobot/.libero \
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&& printf "assets: ${LIBERO_PLUS_ROOT}/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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# Overlay the PR's source code on top of the nightly image.
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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@@ -0,0 +1,56 @@
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# Copyright 2026 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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# Benchmark image for RoboMME integration tests.
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# Extends the nightly GPU image (which has lerobot[all]) with Vulkan system
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# libs for ManiSkill/SAPIEN and the robomme extra. robomme isn't in [all]
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# because mani-skill hard-pins gymnasium==0.29.1 and numpy<2.0.0 which
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# conflict with lerobot's defaults; both are safe at runtime:
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# - gymnasium 0.29.x has the same 5-tuple step() API as 1.x (since 0.26)
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# - numpy 1.26.4 is API-compatible with lerobot's actual usage.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.robomme -t lerobot-benchmark-robomme .
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# Run: docker run --gpus all --rm lerobot-benchmark-robomme lerobot-eval ...
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FROM huggingface/lerobot-gpu:latest
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# NVIDIA Container Toolkit: expose Vulkan driver capability for headless rendering.
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ENV NVIDIA_DRIVER_CAPABILITIES=all \
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VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
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# ManiSkill/SAPIEN's renderer needs Vulkan, which isn't in the base image.
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USER root
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RUN apt-get update \
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&& apt-get install -y --no-install-recommends \
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libvulkan1 libvulkan-dev mesa-vulkan-drivers \
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&& mkdir -p /usr/share/vulkan/icd.d \
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&& echo '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.3.0"}}' \
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> /usr/share/vulkan/icd.d/nvidia_icd.json \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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USER user_lerobot
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# Install smolvla + av-dep via the PR's pyproject, then layer robomme on top
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# with gymnasium/numpy overrides. robomme isn't a pyproject extra because its
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# mani-skill pin conflicts with lerobot's base numpy>=2 (see pyproject.toml).
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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RUN printf 'gymnasium==0.29.1\nnumpy==1.26.4\n' > /tmp/robomme_override.txt \
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&& uv pip install --no-cache --override /tmp/robomme_override.txt \
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-e ".[smolvla,av-dep]" \
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"robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main" \
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&& python -c "import robomme; print('robomme import OK')"
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# Overlay the PR's source code on top of the nightly image.
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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