mirror of
https://github.com/huggingface/lerobot.git
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Pepijn
121 lines
4.0 KiB
Bash
Executable File
121 lines
4.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Build (and optionally push) all lerobot benchmark eval images.
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#
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# Usage:
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# # Build locally only (for testing on this machine)
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# bash docker/build_benchmark_images.sh
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#
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# # Build and push to Docker Hub under your org
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# bash docker/build_benchmark_images.sh --push --hub_org=pepijn223
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#
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# # Force-rebuild base image (e.g. after Dockerfile.eval-base changes)
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# bash docker/build_benchmark_images.sh --no-cache-base --push --hub_org=pepijn223
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#
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# # Build only specific benchmarks
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# bash docker/build_benchmark_images.sh --benchmarks="libero_plus robomme"
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#
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# After building, run eval with:
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# lerobot-eval --eval.runtime=docker --eval.docker.pull=false \
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# --eval.docker.image=<hub_org>/lerobot-benchmark-<benchmark>:latest ...
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# OR (if run locally with the default tag):
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# lerobot-eval --eval.runtime=docker --eval.docker.pull=false \
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# --env.type=<benchmark> ... # auto-resolves to lerobot-benchmark-<benchmark>
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set -euo pipefail
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PUSH=false
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HUB_ORG=""
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BENCHMARKS="libero libero_plus robomme robocasa metaworld"
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NO_CACHE_BASE=false
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PROGRESS="auto"
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for arg in "$@"; do
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case "$arg" in
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--push) PUSH=true ;;
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--hub_org=*) HUB_ORG="${arg#*=}" ;;
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--benchmarks=*) BENCHMARKS="${arg#*=}" ;;
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--no-cache-base) NO_CACHE_BASE=true ;;
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--plain) PROGRESS="plain" ;;
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*) echo "Unknown arg: $arg"; exit 1 ;;
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esac
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done
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
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if [[ "$PUSH" == "true" && -z "$HUB_ORG" ]]; then
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echo "ERROR: --push requires --hub_org=<your-dockerhub-org>"
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exit 1
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fi
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ok() { echo "[OK] $*"; }
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fail() { echo "[FAIL] $*"; exit 1; }
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BASE_CACHE_FLAG=""
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if [[ "$NO_CACHE_BASE" == "true" ]]; then
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BASE_CACHE_FLAG="--no-cache"
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fi
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echo "=== Building lerobot-eval-base ==="
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docker build \
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${BASE_CACHE_FLAG} \
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--progress="${PROGRESS}" \
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-f "${SCRIPT_DIR}/Dockerfile.eval-base" \
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-t lerobot-eval-base:latest \
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"${REPO_ROOT}" || fail "lerobot-eval-base build failed"
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ok "lerobot-eval-base"
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for BENCHMARK in $BENCHMARKS; do
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LOCAL_TAG="lerobot-benchmark-${BENCHMARK}:latest"
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DOCKERFILE="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK//_/-}"
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# Handle underscore → hyphen mapping for filename lookup
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DOCKERFILE_HYPHEN="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK//_/-}"
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DOCKERFILE_UNDERSCORE="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK}"
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if [[ -f "$DOCKERFILE_HYPHEN" ]]; then
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DOCKERFILE="$DOCKERFILE_HYPHEN"
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elif [[ -f "$DOCKERFILE_UNDERSCORE" ]]; then
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DOCKERFILE="$DOCKERFILE_UNDERSCORE"
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else
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fail "No Dockerfile found for benchmark '${BENCHMARK}' (tried ${DOCKERFILE_HYPHEN} and ${DOCKERFILE_UNDERSCORE})"
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fi
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echo ""
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echo "=== Building ${LOCAL_TAG} from $(basename ${DOCKERFILE}) ==="
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docker build \
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--progress="${PROGRESS}" \
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-f "${DOCKERFILE}" \
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-t "${LOCAL_TAG}" \
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"${REPO_ROOT}" || fail "${LOCAL_TAG} build failed"
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ok "${LOCAL_TAG}"
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if [[ "$PUSH" == "true" ]]; then
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HUB_TAG="${HUB_ORG}/lerobot-benchmark-${BENCHMARK}:latest"
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docker tag "${LOCAL_TAG}" "${HUB_TAG}"
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docker push "${HUB_TAG}" || fail "push ${HUB_TAG} failed"
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ok "Pushed ${HUB_TAG}"
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fi
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done
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echo ""
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echo "=== Smoke-testing images ==="
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for BENCHMARK in $BENCHMARKS; do
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LOCAL_TAG="lerobot-benchmark-${BENCHMARK}:latest"
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echo " Smoke test: ${LOCAL_TAG}"
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docker run --rm -e BENCHMARK="${BENCHMARK}" \
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"${LOCAL_TAG}" bash docker/smoke_test_benchmark.sh \
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&& ok "smoke test ${BENCHMARK}" \
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|| echo "[WARN] smoke test failed for ${BENCHMARK} (may need GPU)"
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done
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echo ""
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echo "All benchmark images built successfully."
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if [[ "$PUSH" == "true" ]]; then
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echo "Pushed to Docker Hub under: ${HUB_ORG}/"
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echo ""
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echo "To use Hub images in eval, pass:"
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for BENCHMARK in $BENCHMARKS; do
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echo " --eval.docker.image=${HUB_ORG}/lerobot-benchmark-${BENCHMARK}:latest"
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done
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fi
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