mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-16 17:20:05 +00:00
Pepijn
39cf11d5dc
Add Dockerfile.benchmark (parameterized via ARG BENCHMARK), a
docker-compose.benchmark.yml with services for libero, libero_plus,
robomme, and robocasa, and a smoke_test_benchmark.sh that verifies
imports and CLI entry-points in each container.
Also add the missing `robocasa` optional dep group to pyproject.toml
(the docs already referenced `pip install ".[robocasa]"` but the group
was not defined).
Build a specific benchmark image:
docker build --build-arg BENCHMARK=robomme \
-f docker/Dockerfile.benchmark -t lerobot-benchmark-robomme .
Build all via compose:
docker compose -f docker/docker-compose.benchmark.yml build
Smoke-test inside a container:
docker compose -f docker/docker-compose.benchmark.yml run --rm robomme \
bash docker/smoke_test_benchmark.sh
Co-Authored-By: Claude <noreply@anthropic.com>
111 lines
4.4 KiB
Docker
111 lines
4.4 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 evaluation container — one image per benchmark, built via BENCHMARK arg.
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#
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# Supported values for BENCHMARK:
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# libero — LIBERO suite (spatial / object / goal / 10 / 90)
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# libero_plus — LIBERO-plus extended benchmark (requires robosuite, bddl, robomimic)
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# robomme — RoboMME memory-augmented manipulation benchmark
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# robocasa — RoboCasa kitchen composite-task benchmark
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#
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# Build:
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# docker build --build-arg BENCHMARK=libero -f docker/Dockerfile.benchmark \
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# -t lerobot-benchmark-libero .
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#
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# Run (interactive):
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# docker run --gpus all --rm -it lerobot-benchmark-libero
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# Run eval:
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# docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval --help
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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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ARG BENCHMARK=libero
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ENV DEBIAN_FRONTEND=noninteractive \
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MUJOCO_GL=egl \
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PATH=/lerobot/.venv/bin:$PATH \
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CUDA_VISIBLE_DEVICES=0 \
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DEVICE=cuda \
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BENCHMARK=${BENCHMARK}
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# ── Base system deps (shared across all benchmarks) ───────────────────────────
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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 libegl1-mesa-dev \
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libglew-dev libglfw3-dev libgl1-mesa-dri \
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ffmpeg 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${PYTHON_VERSION}-dev \
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&& curl -LsSf https://astral.sh/uv/install.sh | sh \
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&& mv /root/.local/bin/uv /usr/local/bin/uv \
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&& useradd --create-home --shell /bin/bash user_lerobot \
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&& usermod -aG sudo user_lerobot \
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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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# ── Benchmark-specific system deps ────────────────────────────────────────────
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# libero_plus: the `wand` Python package requires ImageMagick headers.
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RUN case "${BENCHMARK}" in \
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libero_plus) \
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apt-get update && apt-get install -y --no-install-recommends \
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libmagickwand-dev \
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&& apt-get clean && rm -rf /var/lib/apt/lists/* ;; \
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esac
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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${PYTHON_VERSION}
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# Copy only the dependency manifests first so Docker can cache this layer
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# independently of source-code changes.
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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ARG UNBOUND_DEPS=false
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RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
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sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
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echo "Dependencies unbound:" && cat pyproject.toml; \
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fi
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# Install lerobot core + the selected benchmark extra.
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# Git-based deps (libero_plus, robomme) require network access at build time.
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RUN uv pip install --no-cache ".[${BENCHMARK}]"
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# Triton requires its ptxas binary to be executable (NVIDIA-specific).
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RUN if [ -f /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas ]; then \
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chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas; \
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fi
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# Copy full source (tests, examples, configs, etc.)
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COPY --chown=user_lerobot:user_lerobot . .
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CMD ["/bin/bash"]
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