lerobot/.github/workflows/benchmark_tests.yml

# Copyright 2025 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.

# Integration tests: build an isolated Docker image per benchmark and run a
# 1-episode smoke eval. Each benchmark gets its own image so incompatible
# dependency trees (e.g. hf-libero vs metaworld==3.0.0) can never collide.
#
# To add a new benchmark:
#   1. Add docker/Dockerfile.benchmark.<name>  (install only lerobot[<name>])
#   2. Copy one of the jobs below and adjust the image name and eval command.
name: Benchmark Integration Tests

on:
  # Run manually from the Actions tab
  workflow_dispatch:

  # Run every Monday at 02:00 UTC.
  schedule:
    - cron: "0 2 * * 1"

  push:
    branches:
      - main
    paths:
      - "src/lerobot/envs/**"
      - "src/lerobot/scripts/lerobot_eval.py"
      - "docker/Dockerfile.benchmark.*"
      - ".github/workflows/benchmark_tests.yml"
      - "pyproject.toml"

  pull_request:
    branches:
      - main
    paths:
      - "src/lerobot/envs/**"
      - "src/lerobot/scripts/lerobot_eval.py"
      - "docker/Dockerfile.benchmark.*"
      - ".github/workflows/benchmark_tests.yml"
      - "pyproject.toml"

permissions:
  contents: read

env:
  UV_VERSION: "0.8.0"
  PYTHON_VERSION: "3.12"

# Cancel in-flight runs for the same branch/PR.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # ── LIBERO ────────────────────────────────────────────────────────────────
  # Isolated image: lerobot[libero] only (hf-libero, dm-control, mujoco chain)
  libero-integration-test:
    name: Libero — build image + 1-episode eval
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}

    steps:
      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
        with:
          persist-credentials: false
          lfs: true

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false

      - name: Login to Docker Hub
        if: ${{ env.DOCKERHUB_USERNAME != '' }}
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
        env:
          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}

      # Build the benchmark-specific image. The Dockerfile separates dep-install
      # from source-copy, so code-only changes skip the slow uv-sync layer
      # when the runner has a warm Docker daemon cache.
      - name: Build Libero benchmark image
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: docker/Dockerfile.benchmark.libero
          push: false
          load: true
          tags: lerobot-benchmark-libero:ci

      - name: Run Libero smoke eval (1 episode)
        if: env.HF_USER_TOKEN != ''
        run: |
          # Named container (no --rm) so we can docker cp artifacts out.
          # Output to /tmp inside the container — /artifacts doesn't exist
          # and user_lerobot cannot create root-level dirs.
          docker run --name libero-eval --gpus all \
            --shm-size=4g \
            -e HF_HOME=/tmp/hf \
            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
            lerobot-benchmark-libero:ci \
            bash -c "
              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
              lerobot-eval \
                --policy.path=lerobot/smolvla_libero \
                --env.type=libero \
                --env.task=libero_spatial \
                --eval.batch_size=1 \
                --eval.n_episodes=1 \
                --eval.use_async_envs=false \
                --policy.device=cuda \
                '--env.camera_name_mapping={\"agentview_image\": \"camera1\", \"robot0_eye_in_hand_image\": \"camera2\"}' \
                --policy.empty_cameras=1 \
                --output_dir=/tmp/eval-artifacts
              python scripts/ci/extract_task_descriptions.py \
                --env libero --task libero_spatial \
                --output /tmp/eval-artifacts/task_descriptions.json
            "

      - name: Copy Libero artifacts from container
        if: always()
        run: |
          mkdir -p /tmp/libero-artifacts
          docker cp libero-eval:/tmp/eval-artifacts/. /tmp/libero-artifacts/ 2>/dev/null || true
          docker rm -f libero-eval || true

      - name: Parse Libero eval metrics
        if: always()
        run: |
          python3 scripts/ci/parse_eval_metrics.py \
            --artifacts-dir /tmp/libero-artifacts \
            --env libero \
            --task libero_spatial \
            --policy lerobot/smolvla_libero

      - name: Upload Libero rollout video
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: libero-rollout-video
          path: /tmp/libero-artifacts/videos/
          if-no-files-found: warn

      - name: Upload Libero eval metrics
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: libero-metrics
          path: /tmp/libero-artifacts/metrics.json
          if-no-files-found: warn

      # ── LIBERO TRAIN+EVAL SMOKE ──────────────────────────────────────────────
      # Train SmolVLA for 1 step (batch_size=1, dataset episode 0 only) then
      # immediately runs eval inside the training loop (eval_freq=1, 1 episode).
      # Tests the full train→eval-within-training pipeline end-to-end.
      - name: Run Libero train+eval smoke (1 step, eval_freq=1)
        if: env.HF_USER_TOKEN != ''
        run: |
          docker run --name libero-train-smoke --gpus all \
            --shm-size=4g \
            -e HF_HOME=/tmp/hf \
            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
            lerobot-benchmark-libero:ci \
            bash -c "
              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
              accelerate launch --num_processes=1 \$(which lerobot-train) \
                --policy.path=lerobot/smolvla_base \
                --policy.load_vlm_weights=true \
                --policy.scheduler_decay_steps=25000 \
                --policy.freeze_vision_encoder=false \
                --policy.train_expert_only=false \
                --dataset.repo_id=lerobot/libero \
                --dataset.episodes=[0] \
                --dataset.use_imagenet_stats=false \
                --env.type=libero \
                --env.task=libero_spatial \
                '--env.camera_name_mapping={\"agentview_image\": \"camera1\", \"robot0_eye_in_hand_image\": \"camera2\"}' \
                --policy.empty_cameras=1 \
                --output_dir=/tmp/train-smoke \
                --steps=1 \
                --batch_size=1 \
                --eval_freq=1 \
                --eval.n_episodes=1 \
                --eval.batch_size=1 \
                --eval.use_async_envs=false \
                --save_freq=1 \
                --policy.push_to_hub=false \
                '--rename_map={\"observation.images.image\": \"observation.images.camera1\", \"observation.images.image2\": \"observation.images.camera2\"}'
            "

      - name: Copy Libero train-smoke artifacts from container
        if: always()
        run: |
          mkdir -p /tmp/libero-train-smoke-artifacts
          docker cp libero-train-smoke:/tmp/train-smoke/. /tmp/libero-train-smoke-artifacts/ 2>/dev/null || true
          docker rm -f libero-train-smoke || true

      - name: Upload Libero train-smoke eval video
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: libero-train-smoke-video
          path: /tmp/libero-train-smoke-artifacts/eval/
          if-no-files-found: warn

  # ── METAWORLD ─────────────────────────────────────────────────────────────
  # Isolated image: lerobot[metaworld] only (metaworld==3.0.0, mujoco>=3 chain)
  metaworld-integration-test:
    name: MetaWorld — build image + 1-episode eval
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}

    steps:
      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
        with:
          persist-credentials: false
          lfs: true

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false

      - name: Login to Docker Hub
        if: ${{ env.DOCKERHUB_USERNAME != '' }}
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
        env:
          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}

      - name: Build MetaWorld benchmark image
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: docker/Dockerfile.benchmark.metaworld
          push: false
          load: true
          tags: lerobot-benchmark-metaworld:ci

      - name: Run MetaWorld smoke eval (1 episode)
        if: env.HF_USER_TOKEN != ''
        run: |
          docker run --name metaworld-eval --gpus all \
            --shm-size=4g \
            -e HF_HOME=/tmp/hf \
            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
            lerobot-benchmark-metaworld:ci \
            bash -c "
              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
              lerobot-eval \
                --policy.path=lerobot/smolvla_metaworld \
                --env.type=metaworld \
                --env.task=metaworld-push-v3 \
                --eval.batch_size=1 \
                --eval.n_episodes=1 \
                --eval.use_async_envs=false \
                --policy.device=cuda \
                '--rename_map={\"observation.image\": \"observation.images.camera1\"}' \
                --policy.empty_cameras=2 \
                --output_dir=/tmp/eval-artifacts
              python scripts/ci/extract_task_descriptions.py \
                --env metaworld --task metaworld-push-v3 \
                --output /tmp/eval-artifacts/task_descriptions.json
            "

      - name: Copy MetaWorld artifacts from container
        if: always()
        run: |
          mkdir -p /tmp/metaworld-artifacts
          docker cp metaworld-eval:/tmp/eval-artifacts/. /tmp/metaworld-artifacts/ 2>/dev/null || true
          docker rm -f metaworld-eval || true

      - name: Parse MetaWorld eval metrics
        if: always()
        run: |
          python3 scripts/ci/parse_eval_metrics.py \
            --artifacts-dir /tmp/metaworld-artifacts \
            --env metaworld \
            --task metaworld-push-v3 \
            --policy lerobot/smolvla_metaworld

      - name: Upload MetaWorld rollout video
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: metaworld-rollout-video
          path: /tmp/metaworld-artifacts/videos/
          if-no-files-found: warn

      - name: Upload MetaWorld eval metrics
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: metaworld-metrics
          path: /tmp/metaworld-artifacts/metrics.json
          if-no-files-found: warn

  # ── ROBOTWIN 2.0 ──────────────────────────────────────────────────────────
  # Isolated image: full RoboTwin 2.0 stack — SAPIEN, mplib, CuRobo,
  # pytorch3d, + simulation assets (~4 GB).
  # Build takes ~20 min on first run; subsequent runs hit the layer cache.
  # Requires an NVIDIA GPU runner with CUDA 12.1 drivers.
  robotwin-integration-test:
    name: RoboTwin 2.0 — build image + 1-episode eval
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
      ROBOTWIN_POLICY: lerobot/smolvla_robotwin
      ROBOTWIN_TASKS: beat_block_hammer,click_bell,handover_block,stack_blocks_two,click_alarmclock,open_microwave,adjust_bottle,lift_pot,stamp_seal,turn_switch

    steps:
      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
        with:
          persist-credentials: false
          lfs: true

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false

      - name: Login to Docker Hub
        if: ${{ env.DOCKERHUB_USERNAME != '' }}
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
        env:
          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}

      # Build the full-install image: SAPIEN, mplib, CuRobo, pytorch3d +
      # simulation assets (~4 GB). Layer cache lives in the runner's local
      # Docker daemon — reused across re-runs on the same machine.
      - name: Build RoboTwin 2.0 benchmark image
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: docker/Dockerfile.benchmark.robotwin
          push: false
          load: true
          tags: lerobot-benchmark-robotwin:ci
          cache-from: type=local,src=/tmp/.buildx-cache-robotwin
          cache-to: type=local,dest=/tmp/.buildx-cache-robotwin,mode=max

      - name: Run RoboTwin 2.0 smoke eval (10 tasks, 1 episode each)
        if: env.HF_USER_TOKEN != ''
        run: |
          # Named container (no --rm) so we can docker cp artifacts out.
          docker run --name robotwin-eval --gpus all \
            --shm-size=4g \
            -e HF_HOME=/tmp/hf \
            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
            -e ROBOTWIN_POLICY="${ROBOTWIN_POLICY}" \
            -e ROBOTWIN_TASKS="${ROBOTWIN_TASKS}" \
            lerobot-benchmark-robotwin:ci \
            bash -c "
              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
              cd /opt/robotwin && lerobot-eval \
                --policy.path=\"\$ROBOTWIN_POLICY\" \
                --env.type=robotwin \
                --env.task=\"\$ROBOTWIN_TASKS\" \
                --eval.batch_size=1 \
                --eval.n_episodes=1 \
                --eval.use_async_envs=false \
                --policy.device=cuda \
                '--rename_map={\"observation.images.head_camera\": \"observation.images.camera1\", \"observation.images.left_camera\": \"observation.images.camera2\", \"observation.images.right_camera\": \"observation.images.camera3\"}' \
                --output_dir=/tmp/eval-artifacts
              python /lerobot/scripts/ci/extract_task_descriptions.py \
                --env robotwin \
                --task \"\$ROBOTWIN_TASKS\" \
                --output /tmp/eval-artifacts/task_descriptions.json
            "

      - name: Copy RoboTwin artifacts from container
        if: always()
        run: |
          mkdir -p /tmp/robotwin-artifacts
          docker cp robotwin-eval:/tmp/eval-artifacts/. /tmp/robotwin-artifacts/ 2>/dev/null || true
          docker rm -f robotwin-eval || true

      - name: Parse RoboTwin eval metrics
        if: always()
        run: |
          python3 scripts/ci/parse_eval_metrics.py \
            --artifacts-dir /tmp/robotwin-artifacts \
            --env robotwin \
            --task "${ROBOTWIN_TASKS}" \
            --policy "${ROBOTWIN_POLICY}"

      - name: Upload RoboTwin rollout video
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: robotwin-rollout-video
          path: /tmp/robotwin-artifacts/videos/
          if-no-files-found: warn

      - name: Upload RoboTwin eval metrics
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: robotwin-metrics
          path: /tmp/robotwin-artifacts/metrics.json
          if-no-files-found: warn

  # ── ROBOCASA365 ──────────────────────────────────────────────────────────
  # Isolated image: robocasa + robosuite installed manually as editable
  # clones (no `lerobot[robocasa]` extra — robocasa's setup.py pins
  # `lerobot==0.3.3`, which would shadow this repo's lerobot).
  robocasa-integration-test:
    name: RoboCasa365 — build image + 1-episode eval
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}

    steps:
      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
        with:
          persist-credentials: false
          lfs: true

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false

      - name: Login to Docker Hub
        if: ${{ env.DOCKERHUB_USERNAME != '' }}
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
        env:
          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}

      - name: Build RoboCasa365 benchmark image
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: docker/Dockerfile.benchmark.robocasa
          push: false
          load: true
          tags: lerobot-benchmark-robocasa:ci

      - name: Run RoboCasa365 smoke eval (10 atomic tasks, 1 episode each)
        if: env.HF_USER_TOKEN != ''
        run: |
          docker run --name robocasa-eval --gpus all \
            --shm-size=4g \
            -e HF_HOME=/tmp/hf \
            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
            -e MUJOCO_GL=egl \
            lerobot-benchmark-robocasa:ci \
            bash -c "
              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
              lerobot-eval \
                --policy.path=lerobot/smolvla_robocasa \
                --env.type=robocasa \
                --env.task=CloseFridge,OpenCabinet,OpenDrawer,TurnOnMicrowave,TurnOffStove,CloseToasterOvenDoor,SlideDishwasherRack,TurnOnSinkFaucet,NavigateKitchen,TurnOnElectricKettle \
                --eval.batch_size=1 \
                --eval.n_episodes=1 \
                --eval.use_async_envs=false \
                --policy.device=cuda \
                '--rename_map={\"observation.images.robot0_agentview_left\": \"observation.images.camera1\", \"observation.images.robot0_eye_in_hand\": \"observation.images.camera2\", \"observation.images.robot0_agentview_right\": \"observation.images.camera3\"}' \
                --output_dir=/tmp/eval-artifacts
              python scripts/ci/extract_task_descriptions.py \
                --env robocasa \
                --task CloseFridge,OpenCabinet,OpenDrawer,TurnOnMicrowave,TurnOffStove,CloseToasterOvenDoor,SlideDishwasherRack,TurnOnSinkFaucet,NavigateKitchen,TurnOnElectricKettle \
                --output /tmp/eval-artifacts/task_descriptions.json
            "

      - name: Copy RoboCasa365 artifacts from container
        if: always()
        run: |
          mkdir -p /tmp/robocasa-artifacts
          docker cp robocasa-eval:/tmp/eval-artifacts/. /tmp/robocasa-artifacts/ 2>/dev/null || true
          docker rm -f robocasa-eval || true

      - name: Parse RoboCasa365 eval metrics
        if: always()
        run: |
          python3 scripts/ci/parse_eval_metrics.py \
            --artifacts-dir /tmp/robocasa-artifacts \
            --env robocasa \
            --task atomic_smoke_10 \
            --policy lerobot/smolvla_robocasa

      - name: Upload RoboCasa365 rollout video
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: robocasa-rollout-video
          path: /tmp/robocasa-artifacts/videos/
          if-no-files-found: warn

      - name: Upload RoboCasa365 eval metrics
        if: always()
        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
        with:
          name: robocasa-metrics
          path: /tmp/robocasa-artifacts/metrics.json
          if-no-files-found: warn