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fix(eval): create independent preprocessors per policy server

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Each _InferenceServer now gets its own preprocessor/postprocessor
instances, preventing RuntimeError from HuggingFace tokenizer's
non-thread-safe Rust borrow checker when multiple servers run
concurrently.

Made-with: Cursor
This commit is contained in:
Pepijn Kooijmans
2026-03-24 22:38:03 +01:00
parent 066976e078
commit 4f8ebe41b3
1 changed files with 16 additions and 0 deletions
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16
src/lerobot/envs/docker_runtime.py
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@@ -258,6 +258,14 @@ def run_eval_in_docker(cfg: EvalPipelineConfig) -> None:
if s_idx > 0:
policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
policy.eval()
preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=cfg.policy,
pretrained_path=cfg.policy.pretrained_path,
preprocessor_overrides=preprocessor_overrides,
)
env_preprocessor, _ = make_env_pre_post_processors(
env_cfg=cfg.env, policy_cfg=cfg.policy,
)
srv = _InferenceServer(
("0.0.0.0", port), # nosec B104
policy=policy,
@@ -365,6 +373,14 @@ def run_eval_multiprocess(cfg: EvalPipelineConfig) -> None:
if s_idx > 0:
policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
policy.eval()
preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=cfg.policy,
pretrained_path=cfg.policy.pretrained_path,
preprocessor_overrides=preprocessor_overrides,
)
env_preprocessor, _ = make_env_pre_post_processors(
env_cfg=cfg.env, policy_cfg=cfg.policy,
)
srv = _InferenceServer(
("0.0.0.0", port), # nosec B104
policy=policy,