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Pepijn
9712c49b72
Google Drive returns HTTP 429 ("too many users") on VLABench's shared
academic asset file, blocking CI builds unpredictably.
- Add VLABENCH_ASSETS_REPO build arg: when set, snapshot_download the
given HF Hub dataset repo straight into VLABench/assets/. This is the
reliable path for CI once a mirror is uploaded.
- Keep the gdown script as fallback but make it best-effort (|| echo WARN)
so quota errors don't block the image build.
If neither source succeeds, the constant.py patch (empty-dir guard)
keeps module import working; only task-build at runtime will surface
missing-mesh errors.
Made-with: Cursor
77 lines
3.9 KiB
Docker
77 lines
3.9 KiB
Docker
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Benchmark image for VLABench integration tests.
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# Extends the nightly GPU image with the PR's source code and VLABench setup.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.vlabench -t lerobot-benchmark-vlabench .
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# Run: docker run --gpus all --rm lerobot-benchmark-vlabench lerobot-eval ...
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FROM huggingface/lerobot-gpu:latest
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# Install VLABench from GitHub (not on PyPI) and pin MuJoCo/dm-control.
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# Shallow-clone without submodule recursion (nested SSH-only submodules fail in CI).
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# Editable install (-e) because VLABench/utils/ has no __init__.py, so
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# find_packages() omits it from wheels; editable mode uses the source tree directly.
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# rrt-algorithms has the same packaging issue (rrt/ dir missing __init__.py).
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# Patch: constant.py calls os.listdir on ~100 asset/obj/meshes/* dirs at import
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# time. Guard the call so missing dirs return [] instead of crashing (in case
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# the asset download is partial).
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RUN git clone --depth 1 https://github.com/OpenMOSS/VLABench.git ~/VLABench && \
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git clone --depth 1 https://github.com/motion-planning/rrt-algorithms.git ~/rrt-algorithms && \
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python3 -c "\
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import pathlib; \
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p = pathlib.Path.home() / 'VLABench/VLABench/configs/constant.py'; \
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t = p.read_text(); \
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p.write_text(t.replace( \
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'subdirs = os.listdir(xml_dir)', \
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'if not os.path.isdir(xml_dir): return []\n subdirs = os.listdir(xml_dir)'))" && \
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uv pip install --no-cache -e ~/VLABench -e ~/rrt-algorithms \
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mujoco==3.2.2 dm-control==1.0.22 \
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open3d colorlog scikit-learn openai gdown
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# Download VLABench mesh assets. Task configs reference object meshes
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# (obj/meshes/fruit/, containers/basket/, etc.); without them the task builder
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# picks from an empty mesh list and crashes at task-build time.
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#
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# Preferred source: an HF Hub mirror. Set VLABENCH_ASSETS_REPO at build time
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# (e.g. --build-arg VLABENCH_ASSETS_REPO=lerobot/vlabench-assets) and we'll
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# snapshot_download the repo into VLABench's assets dir. This is the reliable
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# path for CI — Google Drive frequently returns HTTP 429 ("Too many users have
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# viewed or downloaded this file recently") on shared academic files.
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#
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# Fallback: VLABench's own gdown-based script. Best-effort only; the build
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# will NOT fail if gdown hits a Drive quota, letting us ship an image where
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# task-build may still IndexError but the rest of the pipeline is exercised.
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ARG VLABENCH_ASSETS_REPO=""
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RUN ASSETS_DIR="$HOME/VLABench/VLABench/assets" && \
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if [ -n "${VLABENCH_ASSETS_REPO}" ]; then \
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echo "Downloading VLABench assets from HF Hub: ${VLABENCH_ASSETS_REPO}" && \
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python -c "from huggingface_hub import snapshot_download; \
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snapshot_download(repo_id='${VLABENCH_ASSETS_REPO}', repo_type='dataset', local_dir='${ASSETS_DIR}')"; \
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else \
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echo "No VLABENCH_ASSETS_REPO set — falling back to gdown (best-effort)" && \
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python ~/VLABench/scripts/download_assets.py --choice all || \
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echo "WARN: VLABench asset download failed (likely Google Drive quota). Env task-build may crash."; \
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fi
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# Overlay the PR's source code on top of the nightly image.
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COPY --chown=user_lerobot:user_lerobot . .
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# Re-install lerobot editably so the new source (with VLABenchEnv registration
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# and updated obs handling) replaces the stale package baked into the nightly image.
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RUN uv pip install --no-cache --no-deps -e .
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CMD ["/bin/bash"]
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