mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Steven Palma
78 lines
2.2 KiB
Markdown
78 lines
2.2 KiB
Markdown
# Docker
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This directory contains Dockerfiles for running LeRobot in containerized environments. Both images are **built nightly from `main`** and published to Docker Hub with the full environment pre-baked — no dependency setup required.
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## Pre-built Images
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```bash
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# CPU-only image (based on Dockerfile.user)
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docker pull huggingface/lerobot-cpu:latest
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# GPU image with CUDA support (based on Dockerfile.internal)
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docker pull huggingface/lerobot-gpu:latest
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```
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## Quick Start
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The fastest way to start training is to pull the GPU image and run `lerobot-train` directly. This is the same environment used for all of our CI, so it is a well-tested, batteries-included setup.
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```bash
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docker run -it --rm --gpus all --shm-size 16gb huggingface/lerobot-gpu:latest
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# inside the container:
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lerobot-train --policy.type=act --dataset.repo_id=lerobot/aloha_sim_transfer_cube_human
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```
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## Dockerfiles
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### `Dockerfile.user` (CPU)
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A lightweight image based on `python:3.12-slim`. Includes all Python dependencies and system libraries but does not include CUDA — there is no GPU support. Useful for exploring the codebase, running scripts, or working with robots, but not practical for training.
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### `Dockerfile.internal` (GPU)
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A CUDA-enabled image based on `nvidia/cuda`. This is the image for training — mostly used for internal interactions with the GPU cluster.
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## Usage
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### Running a pre-built image
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```bash
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# CPU
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docker run -it --rm huggingface/lerobot-cpu:latest
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# GPU
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docker run -it --rm --gpus all --shm-size 16gb huggingface/lerobot-gpu:latest
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```
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### Building locally
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From the repo root:
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```bash
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# CPU
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docker build -f docker/Dockerfile.user -t lerobot-user .
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docker run -it --rm lerobot-user
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# GPU
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docker build -f docker/Dockerfile.internal -t lerobot-internal .
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docker run -it --rm --gpus all --shm-size 16gb lerobot-internal
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```
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### Multi-GPU training
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To select specific GPUs, set `CUDA_VISIBLE_DEVICES` when launching the container:
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```bash
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# Use 4 GPUs
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docker run -it --rm --gpus all --shm-size 16gb \
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-e CUDA_VISIBLE_DEVICES=0,1,2,3 \
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huggingface/lerobot-gpu:latest
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```
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### USB device access (e.g. robots, cameras)
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```bash
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docker run -it --device=/dev/ -v /dev/:/dev/ --rm huggingface/lerobot-cpu:latest
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```
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