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…chmark docs Add a comprehensive guide for adding new benchmarks to LeRobot, and refactor the existing LIBERO and Meta-World docs to follow the new standardized template. Made-with: Cursor
…asses Replace hardcoded if/elif chains in factory.py with create_envs() and get_env_processors() methods on EnvConfig. New benchmarks now only need to register a config subclass — no factory.py edits required. Net -23 lines: factory.py shrinks from ~200 to ~70 lines of logic. Made-with: Cursor
Rewrite for simpler language, better structure, and easier navigation. Move quick-reference table to the top, fold eval explanation into architecture section, condense the doc template to a bulleted outline. Made-with: Cursor
Incorporate cleaner writing from the docs branch while reflecting the refactored dispatch pattern (no factory.py edits needed for new benchmarks). Made-with: Cursor
Keep refactored dispatch pattern (no factory.py edits for new benchmarks). Incorporate main's "Verifying your integration" section and class naming fix. Made-with: Cursor
- test_registry_all_types: skip non-EnvConfig stubs (e.g. TestPluginConfig) - test_processors_delegation: use None instead of abstract PreTrainedConfig - test_custom_get_env_processors_override: use DataProcessorPipeline for isinstance check (PolicyProcessorPipeline is a subscripted generic) Made-with: Cursor
- Thread camera_name_mapping from LiberoEnv config through to gym envs - Sync features_map with camera_name_mapping in LiberoEnv.__post_init__ - Fix render() to use first available camera instead of hardcoded "image" - Handle non-dict final_info in rollout by falling back to info["is_success"] - Add use_peft legacy field to SmolVLAConfig for checkpoint compat - Add defaults to GR00TN15Config init=False fields for transformers 5.3 Made-with: Cursor
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- Revert GR00T N1.5 default_factory/default changes (transformers compat) - Revert SmolVLA use_peft legacy field - Apply ruff formatting fixes - camera_name_mapping stays entirely in env/eval layer (no policy changes) Made-with: Cursor
Co-authored-by: Khalil Meftah <khalil.meftah@huggingface.co> Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Khalil Meftah <khalil.meftah@huggingface.co> Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Khalil Meftah <khalil.meftah@huggingface.co> Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
…asium < 1.0) Made-with: Cursor
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LiberoEnv and MetaworldEnv previously allocated GPU resources (EGL context,
OpenGL framebuffer) in __init__, before AsyncVectorEnv's fork(). Worker
processes inherited stale GPU handles, causing EGL_BAD_CONTEXT crashes on
first render.
Fix: defer OffScreenRenderEnv / MT1 construction to _ensure_env(), called on
first reset() or step() inside the worker subprocess. Each worker creates its
own clean context after fork().
Also fixes lerobot_eval.py:170 (add_envs_task TODO): replace with
env.call("task") which works with both SyncVectorEnv and AsyncVectorEnv.
AsyncVectorEnv is now the default for n_envs > 1; auto-downgraded to
SyncVectorEnv when n_envs=1 (no benefit, less overhead).
Expected speedup: ~15-20x for LIBERO Spatial with batch_size=50.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
eval_policy_all never closed environments after each task completed, causing AsyncVectorEnv worker processes to accumulate (N_tasks × n_envs). This led to OOM, BrokenPipeError and EOFError on multi-task benchmarks. Also fixes: - AsyncVectorEnv compat in envs/utils.py (use get_attr/call instead of .envs) - Tuple task handling in tokenizer_processor and lerobot_eval - _LazyAsyncVectorEnv for deferred worker spawning in LIBERO Made-with: Cursor
…ning
env.call("task") returns the LIBERO task name with underscores
(e.g. "pick_up_the_black_bowl_...") instead of the natural language
description ("pick up the black bowl ..."). The VLM tokenizes these
completely differently, causing 0.0 reward across all episodes.
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- Replace add_envs_task reference with env.call("task_description")
- Update use_async_envs default to True
- Add note about lazy GPU init for AsyncVectorEnv compatibility
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- batch_size=0 (default) auto-tunes based on CPU cores, capped by n_episodes and 64. Removes the need for users to guess the right value. The old batch_size > n_episodes error is replaced by silently clamping to n_episodes. - _LazyAsyncVectorEnv accepts pre-computed spaces so only one temp env is created per suite (not per task). For libero_spatial (10 tasks) this avoids 9 redundant LiberoEnv instantiations during env setup. Made-with: Cursor
- New docs/source/evaluation.mdx covering lerobot-eval usage, batch_size auto-tuning, AsyncVectorEnv performance, tuning tips, output format, multi-task evaluation, and programmatic usage. - Add evaluation page to _toctree.yml under Benchmarks section. - Update adding_benchmarks.mdx to reference batch_size auto default and link to the evaluation guide. Made-with: Cursor
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- AsyncVectorEnv now uses shared_memory=True for zero-copy observation transfer - LiberoEnvConfig.gym_kwargs passes observation_height/width to the env - eval_policy_all prefetches next task's workers while current task runs Made-with: Cursor
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Each benchmark gets its own Docker image (lerobot[libero] / lerobot[metaworld] only) so incompatible dep trees cannot collide. A 1-episode smoke eval runs per benchmark on GPU runners. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
libero/__init__.py calls input() to ask about a custom dataset path, which raises EOFError when stdin is closed inside Docker. Setting LIBERO_DATA_FOLDER skips the prompt entirely. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
libero/__init__.py calls input() when ~/.libero/config.yaml is missing. We write the config at image build time (without importing libero) so the prompt never fires at runtime. Also trigger CI on pyproject.toml changes. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…n -c The multiline RUN python -c "..." was being parsed as Dockerfile instructions. Use printf to write ~/.libero/config.yaml directly. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The config was pointing to /tmp/libero_init which doesn't exist. Use importlib.util.find_spec to locate the hf-libero package directory and write paths to the actual bundled bddl_files/init_files/assets. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
num2words (required by SmolVLM processor) is declared in lerobot[smolvla], not lerobot[libero/metaworld]. Install both extras together. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
isinstance(env, AsyncVectorEnv) silently skipped _LazyAsyncVectorEnv,
causing video rendering to produce no frames on the default async path.
Switch to hasattr(env, "call") so any async-compatible env (including
_LazyAsyncVectorEnv) hits the call("render") branch.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
_get_sub_env_attr was defined but never called anywhere in the codebase. _sub_env_has_attr (its sibling) is kept — it is actively used in utils.py. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…ample
add_envs_task is replaced by env.call("task_description") in this PR.
Remove it from the pipeline walkthrough and renumber the steps (8→7).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
__del__ is unreliable as a cleanup mechanism. close() is already called explicitly in the eval loop's finally block, so the finalizer is redundant. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…ry overlap Previously, next task's AsyncVectorEnv workers were spawned while the current task was still running, causing both tasks' GPU contexts to coexist. Moving the prefetch start into the finally block (after env.close()) ensures workers for task N+1 only spin up once task N has released GPU memory. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
_LazyAsyncVectorEnv lived in libero.py but metaworld had the same OOM problem: all tasks' AsyncVectorEnv workers were spawned eagerly, wasting GPU memory for tasks not yet running. Move the class to envs/utils.py so both environments share it, then apply the same is_async + lazy wrapping pattern in create_metaworld_envs. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Benchmark CI workflow, Dockerfiles, benchmark docs, evaluation smoke-test doc, and dispatch tests belong in a separate PR. Scope this PR to the async env init changes only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…changes - Restore docs/source/adding_benchmarks.mdx (belongs in this PR) - Restore tests/envs/test_dispatch.py (belongs in this PR) - Revert docs/source/env_processor.mdx to main (out of scope for this PR) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…e PR) Step 7 (Dockerfile + benchmark_tests.yml CI job) and its table rows are out of scope for this PR. The CI infrastructure will be added on top in a follow-up PR. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Each benchmark gets its own image (lerobot[<benchmark>,smolvla]) so incompatible dep trees can never collide. A 1-episode smoke eval runs per benchmark on GPU runners. - Libero: pepijn223/smolvla_libero, libero_spatial, camera_name_mapping - MetaWorld: pepijn223/smolvla_metaworld, metaworld-push-v2 - LIBERO config pre-created at build time to bypass interactive stdin prompt - Triggers on envs/**, lerobot_eval.py, Dockerfiles, pyproject.toml changes - Adds docs/source/evaluation.mdx and restores step 7 in adding_benchmarks Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
All MetaWorld task names in metaworld_config.json use the v3 suffix. push-v2 caused a KeyError on TASK_DESCRIPTIONS lookup. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add HF_HUB_DOWNLOAD_TIMEOUT=300 to both jobs — SmolVLM2 processor download was timing out on CI runners with the default timeout - MetaWorld: add --rename_map to map observation.image → camera1 and --policy.empty_cameras=2 to pad the 2 missing cameras the policy expects (trained with 3 cameras, env provides 1) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The 586-file lerobot/libero-assets dataset was being fetched at runtime (on first reset()) which consistently hit a 504 Gateway Timeout on CI runners. Downloading at build time bakes the assets into the image so no network call is needed during the smoke eval. The config.yaml now points assets → ~/.libero/assets (the downloaded snapshot) instead of the bundled (empty) package path. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds RoboMME — a 16-task memory-augmented manipulation benchmark (ManiSkill/SAPIEN) — to lerobot's eval system, rebased on the feat/async-vector-env branch and using the create_envs() dispatch pattern. - src/lerobot/envs/robomme.py: RoboMMEGymEnv wrapper + create_robomme_envs() - src/lerobot/envs/lazy_vec_env.py: LazyVectorEnv for deferred env init - src/lerobot/envs/configs.py: RoboMMEEnv config with create_envs() - pyproject.toml: robomme extras (Linux only, git dep) - docker/Dockerfile.eval-robomme: gymnasium/numpy pin overrides for ManiSkill - tests/test_robomme_env.py: 12 unit tests (all passing, mocked sim) - docs/source/robomme.mdx: install instructions, task table, dataset info - docs/source/_toctree.yml: add robomme to Benchmarks section Dataset pepijn223/robomme_data_lerobot is already in LeRobot v3.0 format (1,600 episodes, 768K frames). No conversion needed. Initial integration prototyped in feat/robomme-integration. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…val) Follows the pattern from feat/async-vector-env (PR #3309) — each benchmark gets an isolated Docker image so its dependency tree cannot conflict with other benchmarks. - docker/Dockerfile.benchmark.robomme: CUDA image installing lerobot[robomme] only; adds Vulkan ICD loader for ManiSkill/SAPIEN rendering; applies gymnasium==0.29.1 + numpy==1.26.4 overrides post-install (mani-skill pins). Uses `uv sync` without --locked because robomme is a git dep not in uv.lock. - .github/workflows/benchmark_tests.yml: full workflow with libero + metaworld jobs (from PR #3309) plus new robomme-integration-test job; triggers on changes to src/lerobot/envs/**, lerobot_eval.py, Dockerfiles. TODO: update --policy.path in the robomme eval step once a robomme-trained policy is published on the Hub. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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