mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Pepijn
2665d4a5ac
- Remove broken Triton issue link from Dockerfile.benchmark.libero - Add module-level _safe_int helper to guard n_episodes against NaN - Move _safe_float to module level alongside _safe_int - Add # zizmor: ignore[unpinned-uses] to all upload-artifact@v4 steps - Add if: env.HF_USER_TOKEN != '' to Libero smoke eval for fork PRs Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
100 lines
4.5 KiB
Docker
100 lines
4.5 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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# Isolated benchmark image for LIBERO integration tests.
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# Installs only lerobot[libero] so its dep tree (hf-libero, dm-control, mujoco)
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# cannot conflict with other benchmarks.
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#
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# Build: docker build -f docker/Dockerfile.benchmark.libero -t lerobot-benchmark-libero .
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# Run: docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval ...
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ARG CUDA_VERSION=12.4.1
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ARG OS_VERSION=22.04
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
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ARG PYTHON_VERSION=3.12
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ENV DEBIAN_FRONTEND=noninteractive \
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MUJOCO_GL=egl \
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PATH=/lerobot/.venv/bin:$PATH \
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CUDA_VISIBLE_DEVICES=0 \
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DEVICE=cuda
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# System deps — same set as Dockerfile.internal
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RUN apt-get update && apt-get install -y --no-install-recommends \
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software-properties-common build-essential git curl \
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libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
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libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
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cmake pkg-config ninja-build \
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&& add-apt-repository -y ppa:deadsnakes/ppa \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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python${PYTHON_VERSION} \
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python${PYTHON_VERSION}-venv \
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python${PYTHON_VERSION}-dev \
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&& curl -LsSf https://astral.sh/uv/0.8.0/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& usermod -aG sudo user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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WORKDIR /lerobot
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RUN chown -R user_lerobot:user_lerobot /lerobot
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USER user_lerobot
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ENV HOME=/home/user_lerobot \
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HF_HOME=/home/user_lerobot/.cache/huggingface \
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HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
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TORCH_HOME=/home/user_lerobot/.cache/torch \
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TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
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RUN uv venv --python python${PYTHON_VERSION}
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# ── Dependency layer (cached unless pyproject.toml / uv.lock change) ────────
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# Copy only the files uv needs to resolve deps, plus a minimal package stub
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# so the editable install can succeed without the full source tree.
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# Uses `uv pip install` instead of `uv sync` because uv sync validates the
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# entire lockfile across all extras — robomme's numpy<2.0 conflicts with the
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# base numpy>=2.0, making the full lockfile unsatisfiable. pip-style install
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# only resolves the requested extras for the current platform.
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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RUN mkdir -p src/lerobot && touch src/lerobot/__init__.py src/lerobot/py.typed
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RUN uv pip install --no-cache -e ".[libero,smolvla]"
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# Pre-download lerobot/libero-assets from HF Hub so nothing is fetched at
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# runtime (which times out on CI). Point the libero config at the cached path.
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# libero/libero/__init__.py calls input() when ~/.libero/config.yaml is missing,
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# so we write the config before any libero import can happen.
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RUN LIBERO_DIR=$(python${PYTHON_VERSION} -c \
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"import importlib.util, os; s=importlib.util.find_spec('libero'); \
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print(os.path.join(os.path.dirname(s.origin), 'libero'))") && \
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mkdir -p /home/user_lerobot/.libero && \
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python${PYTHON_VERSION} -c "\
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from huggingface_hub import snapshot_download; \
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snapshot_download(repo_id='lerobot/libero-assets', repo_type='dataset', \
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local_dir='/home/user_lerobot/.libero/assets')" && \
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printf "assets: /home/user_lerobot/.libero/assets\nbddl_files: ${LIBERO_DIR}/bddl_files\ndatasets: ${LIBERO_DIR}/../datasets\ninit_states: ${LIBERO_DIR}/init_files\n" \
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> /home/user_lerobot/.libero/config.yaml
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# Workaround: Triton ships ptxas without the execute bit set.
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# Without this chmod, any JIT compilation (e.g. torch.compile) fails
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# with "Permission denied".
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RUN chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas
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# ── Source layer (rebuilds in seconds on code-only changes) ─────────────────
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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