From e52e7e644a5e9930f8bfc52f7c6ebff30da40e86 Mon Sep 17 00:00:00 2001
From: Pepijn Kooijmans <pepijn@huggingface.co>
Date: Mon, 23 Mar 2026 18:31:57 +0100
Subject: [PATCH] fix(docker): add libero_plus install workaround to generic
 Dockerfile.benchmark
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The generic Dockerfile.benchmark was using a plain `uv pip install ".[libero_plus]"`
which silently fails to make `libero` importable due to an upstream LIBERO-plus
packaging bug. Port the dedicated clone + .pth workaround from
Dockerfile.eval-libero-plus so `docker build --build-arg BENCHMARK=libero_plus`
produces working containers.

Also fix eval worker using nonexistent `parser.parse()` — use `draccus.parse()`.

Made-with: Cursor
---
 docker/Dockerfile.benchmark                | 28 ++++++++++++++++--
 src/lerobot/scripts/lerobot_eval_worker.py |  4 +--
 tests/scripts/test_eval_worker.py          | 34 ++++++++++++++++++++++
 3 files changed, 61 insertions(+), 5 deletions(-)
 create mode 100644 tests/scripts/test_eval_worker.py

diff --git a/docker/Dockerfile.benchmark b/docker/Dockerfile.benchmark
index 63e2e56d9..d1feb356d 100644
--- a/docker/Dockerfile.benchmark
+++ b/docker/Dockerfile.benchmark
@@ -39,6 +39,7 @@ ARG BENCHMARK=libero
 ENV DEBIAN_FRONTEND=noninteractive \
     MUJOCO_GL=egl \
     PATH=/lerobot/.venv/bin:$PATH \
+    CMAKE_POLICY_VERSION_MINIMUM=3.5 \
     CUDA_VISIBLE_DEVICES=0 \
     DEVICE=cuda \
     BENCHMARK=${BENCHMARK}
@@ -82,7 +83,7 @@ ENV HOME=/home/user_lerobot \
     TORCH_HOME=/home/user_lerobot/.cache/torch \
     TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
 
-RUN uv venv --python python${PYTHON_VERSION}
+RUN uv venv --seed --python python${PYTHON_VERSION}
 
 # Copy only the dependency manifests first so Docker can cache this layer
 # independently of source-code changes.
@@ -96,8 +97,29 @@ RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
     fi
 
 # Install lerobot core + the selected benchmark extra.
-# Git-based deps (libero_plus, robomme) require network access at build time.
-RUN uv pip install --no-cache ".[${BENCHMARK}]"
+# LIBERO-plus needs a dedicated install path because the upstream package is
+# import-broken when installed via the extras chain alone.
+RUN case "${BENCHMARK}" in \
+    libero_plus) \
+        PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir \
+            "hf-libero>=0.1.3,<0.2.0" \
+            "hf-egl-probe>=1.0.1" \
+            "transformers>=5.3.0,<6.0.0" \
+            "scipy>=1.14.0,<2.0.0" \
+            "bddl>=1.0.1,<2.0.0" \
+            "future" \
+            "easydict>=1.9" \
+            "wand" \
+            "scikit-image>=0.20.0" \
+            "gym>=0.25.0,<0.27.0" \
+        && git clone --depth 1 https://github.com/sylvestf/LIBERO-plus.git /tmp/LIBERO-plus \
+        && PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir --no-deps /tmp/LIBERO-plus \
+        && /lerobot/.venv/bin/python -c "import pathlib, site; pathlib.Path(site.getsitepackages()[0], 'libero_plus_repo.pth').write_text('/tmp/LIBERO-plus\n')" \
+        && /lerobot/.venv/bin/python -m pip install --no-cache-dir . \
+        && /lerobot/.venv/bin/python -c "import libero, robosuite, bddl" ;; \
+    *) \
+        uv pip install --no-cache ".[${BENCHMARK}]" ;; \
+    esac
 
 # Triton requires its ptxas binary to be executable (NVIDIA-specific).
 RUN if [ -f /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas ]; then \
diff --git a/src/lerobot/scripts/lerobot_eval_worker.py b/src/lerobot/scripts/lerobot_eval_worker.py
index a8998b7ef..321795237 100644
--- a/src/lerobot/scripts/lerobot_eval_worker.py
+++ b/src/lerobot/scripts/lerobot_eval_worker.py
@@ -39,10 +39,10 @@ import urllib.request
 from dataclasses import dataclass, field
 from pathlib import Path
 
+import draccus
 import numpy as np
 
 from lerobot import envs  # noqa: F401 — registers all env subclasses
-from lerobot.configs import parser
 from lerobot.envs.configs import EnvConfig
 from lerobot.envs.factory import make_env
 from lerobot.envs.utils import add_envs_task, preprocess_observation
@@ -184,7 +184,7 @@ def worker_main(cfg: EvalWorkerConfig) -> None:
 
 def main() -> None:
     init_logging()
-    cfg = parser.parse(EvalWorkerConfig)
+    cfg = draccus.parse(config_class=EvalWorkerConfig)
     worker_main(cfg)
 
 
diff --git a/tests/scripts/test_eval_worker.py b/tests/scripts/test_eval_worker.py
new file mode 100644
index 000000000..518f29a6f
--- /dev/null
+++ b/tests/scripts/test_eval_worker.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+
+from lerobot.scripts import lerobot_eval_worker
+
+
+def test_worker_main_writes_results(monkeypatch, tmp_path: Path):
+    cfg = lerobot_eval_worker.EvalWorkerConfig(
+        env="pusht",  # type: ignore[arg-type]
+        instance_id=3,
+        output_path=tmp_path / "worker.json",
+    )
+
+    monkeypatch.setattr(lerobot_eval_worker, "run_worker", lambda _cfg: {"per_task": []})
+
+    lerobot_eval_worker.worker_main(cfg)
+
+    assert cfg.output_path.exists()
+    assert cfg.output_path.read_text().strip() == '{\n  "per_task": []\n}'