lerobot/docker/Dockerfile.benchmark.libero_plus

# Copyright 2026 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.

# Benchmark image for LIBERO-plus integration tests.
# Extends the nightly GPU image (which has lerobot[all]) with the LIBERO-plus
# fork source + its 6.4 GB perturbation assets.
#
# Build:  docker build -f docker/Dockerfile.benchmark.libero_plus -t lerobot-benchmark-libero-plus .
# Run:    docker run --gpus all --rm lerobot-benchmark-libero-plus lerobot-eval ...

FROM huggingface/lerobot-gpu:latest
ENV MUJOCO_GL=egl

# unzip for the 6.4 GB assets.zip; the rest are LIBERO-plus build-time extras
# (wand / ImageMagick / fontconfig) not in the nightly base.
USER root
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
         unzip libexpat1 libfontconfig1-dev libmagickwand-dev \
    && apt-get clean && rm -rf /var/lib/apt/lists/*
USER user_lerobot

# robosuite==1.4.1 is mandatory (the fork uses `single_arm_env` removed in
# v1.5+). The rest are LIBERO-plus runtime deps pulled from its setup.py.
# We install these explicitly instead of via the [libero_plus] extra because
# the extra's `libero @ git+...` dep installs as a namespace package and then
# clone and PYTHONPATH-override it below.
RUN uv pip install --no-cache \
        "robosuite==1.4.1" \
        "bddl==1.0.1" \
        "easydict==1.13" \
        "mujoco==3.7.0" \
        "matplotlib==3.10.8" \
        "Wand==0.6.13" \
        "scikit-image==0.25.2" \
        "gym==0.26.2"

# Clone LIBERO-plus and make it importable as `libero`. The nightly base has
# hf-libero (10 tasks) preinstalled via lerobot[libero]; uninstall it so
# Python resolves `import libero` to the 2402-task LIBERO-plus module instead.
# Pinned to the current upstream main SHA so benchmark builds stay reproducible.
ARG LIBERO_PLUS_SHA=4976dc3
ENV LIBERO_PLUS_ROOT=/home/user_lerobot/libero-plus/libero/libero
RUN git clone https://github.com/sylvestf/LIBERO-plus.git /home/user_lerobot/libero-plus \
    && git -C /home/user_lerobot/libero-plus checkout ${LIBERO_PLUS_SHA} \
    && cd /home/user_lerobot/libero-plus && uv pip install --no-cache --no-deps -e "." \
    && (uv pip uninstall hf-libero 2>/dev/null || true)
ENV PYTHONPATH="/home/user_lerobot/libero-plus:${PYTHONPATH}"

# Perturbation textures/scenes: bddl_base_domain.py resolves XMLs via
# DIR_PATH/../assets (package-relative, ignoring ~/.libero/config.yaml). All
# 2402 tasks reference files that ship only in Sylvest/LIBERO-plus's
# assets.zip (6.4 GB) under a deep author-internal prefix — extract and
# flatten it under ${LIBERO_PLUS_ROOT}/assets.
RUN python -c "\
from huggingface_hub import hf_hub_download; \
hf_hub_download(repo_id='Sylvest/LIBERO-plus', repo_type='dataset', \
                filename='assets.zip', local_dir='/tmp/libero-plus-dl')" \
    && unzip -q /tmp/libero-plus-dl/assets.zip -d /tmp/libero-plus-dl/extract \
    && ASSETS_DIR=$(find /tmp/libero-plus-dl/extract -type d -name assets | head -1) \
    && mv "${ASSETS_DIR}" ${LIBERO_PLUS_ROOT}/assets \
    && rm -rf /tmp/libero-plus-dl

# Point ~/.libero/config.yaml at the clone so LIBERO-plus's imports are
# non-interactive (it calls input() when the config is missing).
RUN mkdir -p /home/user_lerobot/.libero \
    && 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" \
       > /home/user_lerobot/.libero/config.yaml

# Overlay the PR's source code on top of the nightly image.
COPY --chown=user_lerobot:user_lerobot . .

CMD ["/bin/bash"]