- The nightly base image has stale lerobot code (pre-dates VLABenchEnv
addition), so COPY . . doesn't propagate into .venv. Run
`uv pip install --no-deps -e .` after COPY, same fix as robocasa365.
- Coerce ee_state to exactly shape (7,) so SyncVectorEnv.concatenate
doesn't raise "Output array is the wrong shape" when VLABench's
actual ee_state length differs from our declared observation_space.
Made-with: Cursor
Task configs reference object meshes (obj/meshes/fruit/, containers/*)
via name2class_xml; without them, random.choice([]) crashes during
task build. Install gdown and run VLABench's download_assets.py script
to fetch the asset + scene archives from Google Drive.
Made-with: Cursor
VLABench.utils.gpt_utils imports openai (for LLM instruction generation).
Triggered transitively via dm_task.py. Not used by eval but required
at import time.
Made-with: Cursor
rrt_algorithms/rrt/ has no __init__.py, so find_packages() excludes
it from the built wheel (same issue as VLABench/utils/). Clone the
repo and install with -e so imports resolve from the source tree.
Made-with: Cursor
VLABench.utils.skill_lib imports rrt_algorithms (GitHub-only package,
not on PyPI). Triggered transitively via dm_task.py on any task import.
Made-with: Cursor
VLABench's configs/constant.py calls os.listdir() on ~100 asset
directories (obj/meshes/*) at module import time. These dirs come
from a Google Drive download we skip in CI. Patch get_object_list
to return [] for missing dirs instead of crashing with FileNotFoundError.
Made-with: Cursor
download_assets lives in scripts/download_assets.py (not
VLABench.utils) and downloads from Google Drive via gdown, which
is unreliable in CI. Our smoke test uses its own eval pipeline and
does not need these assets.
Made-with: Cursor
VLABench/utils/ has no __init__.py, so find_packages() omits it
from built wheels. Use editable install (-e) so Python imports
directly from the source tree via implicit namespace packages.
Made-with: Cursor
The VLABench repo's nested submodules (openpi -> aloha, libero) use
git@github.com SSH URLs which fail in Docker builds without SSH.
Clone with --depth 1 (no submodule recursion) and install from the
local checkout instead.
Made-with: Cursor
The base image (lerobot-gpu) uses uv, not pip. The previous `pip install`
silently failed ("pip: not found") and `|| true` hid the error, resulting
in an image with no VLABench installed.
Made-with: Cursor
Add VLABench (language-conditioned manipulation with long-horizon
reasoning) as a new simulation benchmark, following the established
LIBERO/MetaWorld patterns.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Pepijn