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feat: add benchmark orchestration, LIBERO-plus install parity, and eval hardening

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- Add lerobot-benchmark CLI for multi-benchmark train/eval workflows
- Add benchmark_training.mdx documentation
- Add libero-plus pip extra alias with EGL probe deps matching standard libero
- Harden libero.py: wand mock, init-state fallback, renderer EGL→OSMesa fallback
- Add multimodal_analysis.py script and SLURM training template

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pepijn
2026-03-15 05:52:53 +00:00
parent 7bef12a461
commit c9cfc88602
7 changed files with 1538 additions and 12 deletions
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pyproject.toml
+4
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@@ -177,9 +177,12 @@ pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk v
libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
libero_plus = [
"lerobot[transformers-dep]",
"hf-egl-probe>=1.0.1; sys_platform == 'linux'",
"egl_probe>=1.0.1; sys_platform == 'linux'",
"libero @ git+https://github.com/sylvestf/LIBERO-plus.git@main ; sys_platform == 'linux'",
"lerobot[scipy-dep]",
]
libero-plus = ["lerobot[libero_plus]"]
robomme = [
"robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main ; sys_platform == 'linux'",
]
@@ -236,6 +239,7 @@ lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
lerobot-benchmark="lerobot.scripts.lerobot_benchmark:main"
# ---------------- Tool Configurations ----------------
[tool.setuptools.package-data]