mirror of
https://github.com/huggingface/lerobot.git
synced 2026-06-18 00:37:10 +00:00
Steven Palma
83 lines
3.5 KiB
Docker
83 lines
3.5 KiB
Docker
# Copyright 2026 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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# This Dockerfile builds a GPU inference pod for `lerobot-policy-server`
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# (remote inference over Zenoh). It starts from an NVIDIA CUDA base image;
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# the cu128 PyTorch wheels bundle their own CUDA runtime (driver floor 570.86,
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# see pyproject.toml [tool.uv]).
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# docker build -f docker/Dockerfile.policy-server -t lerobot-policy-server .
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# docker run --gpus all -v ./server.yaml:/etc/lerobot/server.yaml lerobot-policy-server
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#
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# Extra policy-family dependencies (e.g. pi0/smolvla need transformers) can be
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# added at build time:
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# docker build -f docker/Dockerfile.policy-server \
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# --build-arg LEROBOT_EXTRAS="async pi0" -t lerobot-policy-server .
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# Configure the base image (same CUDA family as Dockerfile.internal)
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ARG CUDA_VERSION=12.8.1
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ARG OS_VERSION=24.04
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
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# Define Python version and lerobot extras arguments
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ARG PYTHON_VERSION=3.12
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ARG LEROBOT_EXTRAS="async"
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# Configure environment variables
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ENV DEBIAN_FRONTEND=noninteractive \
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PATH=/lerobot/.venv/bin:$PATH
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# Install system dependencies and uv (as root).
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# Kept lean: no hardware/teleop libraries — this image only serves policies.
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RUN apt-get update && apt-get install -y --no-install-recommends \
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git curl ca-certificates libglib2.0-0 ffmpeg \
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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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&& apt-get clean && rm -rf /var/lib/apt/lists/*
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# Create application directory and set permissions
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WORKDIR /lerobot
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RUN chown -R user_lerobot:user_lerobot /lerobot
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# Switch to the non-root user
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USER user_lerobot
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# Model checkpoints are cached under HF_HOME — mount it as a volume
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# (or a PVC in Kubernetes) so warm restarts skip the Hub download.
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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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# Create the virtual environment (Python provisioned by uv)
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RUN uv venv --python ${PYTHON_VERSION}
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# Install lerobot from the build context with the async extra
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# (eclipse-zenoh + msgpack — see pyproject.toml [project.optional-dependencies])
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COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml uv.lock README.md MANIFEST.in ./
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COPY --chown=user_lerobot:user_lerobot src/ src/
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RUN uv sync --locked --no-cache $(printf -- '--extra %s ' ${LEROBOT_EXTRAS})
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# HTTP health + Prometheus metrics (manifest `health_port`, 0 disables)
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EXPOSE 9100
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# The manifest is typically mounted as a ConfigMap (Kubernetes) or a bind
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# mount (docker run -v) at /etc/lerobot/server.yaml; any field can also be
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# overridden on the command line, e.g. --model.repo_or_path=lerobot/pi0_towels
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ENTRYPOINT ["lerobot-policy-server"]
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CMD ["--manifest", "/etc/lerobot/server.yaml"]
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