- Add NVIDIA EGL/Vulkan vendor ICDs and graphics libs to both Dockerfiles
- Refactor LIBERO-plus asset download into a separate build step
- Fix KeyError in datasets/factory.py when stats dict is None or missing keys
Made-with: Cursor
The LIBERO-plus assets.zip has a deeply nested path
(inspire/hdd/project/.../assets) that didn't match the shallow glob.
Use recursive glob to find assets/scenes regardless of nesting depth.
Made-with: Cursor
The benchmark containers were missing the scene/texture/object assets
required by LIBERO-plus. Download them from HuggingFace Hub during the
Docker build so containers are self-contained and ready to run.
Made-with: Cursor
The upstream libero __init__.py calls input() when ~/.libero/config.yaml
is missing, which crashes in non-interactive Docker containers with
EOFError. Pre-create the config with default paths at build time using
importlib.util.find_spec to locate the module without triggering the
problematic import.
Made-with: Cursor
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
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>
Pepijn Kooijmans