The generic Dockerfile.benchmark was using a plain `uv pip install ".[libero_plus]"`
which silently fails to make `libero` importable due to an upstream LIBERO-plus
packaging bug. Port the dedicated clone + .pth workaround from
Dockerfile.eval-libero-plus so `docker build --build-arg BENCHMARK=libero_plus`
produces working containers.
Also fix eval worker using nonexistent `parser.parse()` — use `draccus.parse()`.
Made-with: Cursor
Add docker_runtime.py (host-side) and lerobot_eval_worker.py (container-side)
for --eval.runtime=docker. Policy loads once on the host GPU; Docker containers
run env-only workers that call back via HTTP for action chunks, maximising GPU
utilisation across parallel benchmark tasks.
- _InferenceServer: HTTP server wrapping predict_action_chunk with a single lock
- run_eval_in_docker: spawns instance_count containers, collects + merges per-task
JSON, writes eval_info.json compatible with _aggregate_eval_from_per_task
- lerobot-eval-worker CLI: make_env → shard tasks → run episodes → write JSON
- EvalDockerConfig: add port field (default 50051)
- pyproject.toml: add lerobot-eval-worker entry point
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
