mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-26 19:26:16 +00:00
Pepijn
e3de973173
The previous HF Hub snapshot_download step could complete silently without actually populating the asset tree — several files in lerobot/vlabench-assets are Xet-stored, and the stock huggingface_hub install in the base image can skip them. The first runtime signal was an IndexError deep inside VLABench's task builder (random.choice on an empty XML list in config_manager.py), far from the real cause. - Install huggingface_hub[hf_xet]>=0.26 before the snapshot download so Xet-stored assets are fetched reliably. - Scope the download with allow_patterns=['obj/**', 'scenes/**'] (the only subtrees the env needs), reducing image size and surface area. - Add a build-time validator: after the download, walk four task-critical subtrees (plates, basket, fruit, tray) and fail the build loudly with the list of empty dirs if any is missing XMLs. Prints XML counts when successful so CI logs confirm completeness. Made-with: Cursor
94 lines
4.8 KiB
Docker
94 lines
4.8 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/, tablewares/plates/, etc.); without
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# them the task builder picks from an empty mesh list and crashes with
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# IndexError at task-build time (random.choice([]) in config_manager.py).
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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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# After download we *validate* that at least one XML exists under each
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# task-critical subtree and fail the build loudly if not. Silent-empty asset
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# dirs are the #1 cause of VLABench runtime crashes in CI, so we surface them
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# here rather than after a 10-minute eval build.
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#
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# Fallback: VLABench's own gdown-based script. Best-effort only.
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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: ${VLABENCH_ASSETS_REPO}" && \
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uv pip install --no-cache "huggingface_hub[hf_xet]>=0.26" && \
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python -c "from huggingface_hub import snapshot_download; \
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p = snapshot_download(repo_id='${VLABENCH_ASSETS_REPO}', repo_type='dataset', \
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local_dir='${ASSETS_DIR}', allow_patterns=['obj/**', 'scenes/**']); \
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print('snapshot_download returned:', p)"; \
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else \
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echo "No VLABENCH_ASSETS_REPO set — falling back to gdown (best-effort)" && \
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python ~/VLABench/scripts/download_assets.py --choice all || \
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echo "WARN: VLABench asset download failed (likely Google Drive quota)."; \
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fi && \
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python -c "\
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from pathlib import Path; \
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import sys; \
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root = Path('${ASSETS_DIR}'); \
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checks = ['obj/meshes/tablewares/plates', 'obj/meshes/containers/basket', 'obj/meshes/fruit', 'obj/meshes/containers/tray']; \
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failed = []; \
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print(f'Validating VLABench assets under {root}'); \
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[print(f' {c}: {len(list((root/c).rglob(\"*.xml\")))} XMLs') for c in checks]; \
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[failed.append(c) for c in checks if not any((root/c).rglob('*.xml'))]; \
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sys.exit(f'Empty asset dirs (no *.xml): {failed}') if failed else print('All asset dirs populated.')"
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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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