Nightly workflow (jokeru8/piper_lerobot)

The Nightly workflow from jokeru8/piper_lerobot, explained and optimized by Latchkey.

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Source: jokeru8/piper_lerobot.github/workflows/nightly.ymlLicense Apache-2.0View source

What it does

This is the Nightly workflow from the jokeru8/piper_lerobot repository, a real project running GitHub Actions. It is shown here with attribution under its Apache-2.0 license.

Below, Latchkey shows a faster, safer version produced by its optimization engine.

The workflow

workflow (.yml)

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# This workflow handles nightly testing & docker images publishing.
name: Nightly
permissions:
  contents: read

on:
  # Allows running this workflow manually from the Actions tab
  workflow_dispatch:

  # Runs at 02:00
  schedule:
    - cron: "0 2 * * *"

# Sets up the environment variables
env:
  UV_VERSION: "0.8.0"
  PYTHON_VERSION: "3.10"
  DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
  DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest

# Ensures that only the latest commit is built, canceling older runs.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # This job builds a CPU image for testing & distribution
  build-docker-cpu-nightly:
    name: Build CPU Docker for Nightly
    runs-on:
      group: aws-general-8-plus
    outputs:
      image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
    steps:
      - name: Install Git LFS
        run: |
          sudo apt-get update
          sudo apt-get install git-lfs
          git lfs install
      - uses: actions/checkout@v4
        with:
          lfs: true
          persist-credentials: false
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false
      - name: Login to Docker Hub
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
      - name: Build and push Docker image CPU
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: ./docker/Dockerfile.user
          push: true
          tags: ${{ env.DOCKER_IMAGE_NAME_CPU }}

  # This job builds a GPU image for testing & distribution
  build-docker-gpu-nightly:
    name: Build GPU Docker for Nightly
    runs-on:
      group: aws-general-8-plus
    outputs:
      image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
    steps:
      - name: Install Git LFS
        run: |
          sudo apt-get update
          sudo apt-get install git-lfs
          git lfs install
      - uses: actions/checkout@v4
        with:
          lfs: true
          persist-credentials: false
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false
      - name: Login to Docker Hub
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
      - name: Build and push Docker image GPU
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: ./docker/Dockerfile.internal
          push: true
          tags: ${{ env.DOCKER_IMAGE_NAME_GPU }}

  # This job runs the E2E tests + pytest with all extras in the CPU image
  nightly-cpu-tests:
    name: Nightly CPU Tests
    needs: [build-docker-cpu-nightly]
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
    container:
      image: ${{ needs.build-docker-cpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Run pytest on CPU
        run: pytest tests -vv --maxfail=10
      - name: Run end-to-end tests
        run: make test-end-to-end

  # This job runs the E2E tests + pytest with all extras in the GPU image
  nightly-gpu-tests:
    name: Nightly GPU Tests
    needs: [build-docker-gpu-nightly]
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
    container:
      image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --gpus all --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Run pytest on GPU
        run: pytest tests -vv --maxfail=10
      - name: Run end-to-end tests
        run: make test-end-to-end

  # This job runs multi-GPU training tests with 4 GPUs
  nightly-multi-gpu-tests:
    name: Nightly Multi-GPU Tests
    needs: [build-docker-gpu-nightly]
    runs-on:
      group: aws-g4dn-12xlarge  # Instance with 4 GPUs
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
      CUDA_VISIBLE_DEVICES: "0,1,2,3"
    container:
      image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --gpus all --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Verify GPU availability
        run: |
          nvidia-smi
          python -c "import torch; print(f'PyTorch CUDA available: {torch.cuda.is_available()}'); print(f'Number of GPUs: {torch.cuda.device_count()}')"

      - name: Run multi-GPU training tests
      # TODO(Steven): Investigate why motors tests are failing in multi-GPU setup
        run: pytest tests -vv --maxfail=10 --ignore=tests/motors/
        timeout-minutes: 10

The same workflow, on Latchkey

Removes redundant runs and caps runaway jobs. Added and changed lines are highlighted.

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
# This workflow handles nightly testing & docker images publishing.
name: Nightly
permissions:
  contents: read
 
on:
  # Allows running this workflow manually from the Actions tab
  workflow_dispatch:
 
  # Runs at 02:00
  schedule:
    - cron: "0 2 * * *"
 
# Sets up the environment variables
env:
  UV_VERSION: "0.8.0"
  PYTHON_VERSION: "3.10"
  DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
  DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest
 
# Ensures that only the latest commit is built, canceling older runs.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true
 
jobs:
  # This job builds a CPU image for testing & distribution
  build-docker-cpu-nightly:
    timeout-minutes: 30
    name: Build CPU Docker for Nightly
    runs-on:
      group: aws-general-8-plus
    outputs:
      image_tag: ${{ env.DOCKER_IMAGE_NAME_CPU }}
    steps:
      - name: Install Git LFS
        run: |
          sudo apt-get update
          sudo apt-get install git-lfs
          git lfs install
      - uses: actions/checkout@v4
        with:
          lfs: true
          persist-credentials: false
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false
      - name: Login to Docker Hub
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
      - name: Build and push Docker image CPU
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: ./docker/Dockerfile.user
          push: true
          tags: ${{ env.DOCKER_IMAGE_NAME_CPU }}
 
  # This job builds a GPU image for testing & distribution
  build-docker-gpu-nightly:
    timeout-minutes: 30
    name: Build GPU Docker for Nightly
    runs-on:
      group: aws-general-8-plus
    outputs:
      image_tag: ${{ env.DOCKER_IMAGE_NAME_GPU }}
    steps:
      - name: Install Git LFS
        run: |
          sudo apt-get update
          sudo apt-get install git-lfs
          git lfs install
      - uses: actions/checkout@v4
        with:
          lfs: true
          persist-credentials: false
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          cache-binary: false
      - name: Login to Docker Hub
        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
        with:
          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
      - name: Build and push Docker image GPU
        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
        with:
          context: .
          file: ./docker/Dockerfile.internal
          push: true
          tags: ${{ env.DOCKER_IMAGE_NAME_GPU }}
 
  # This job runs the E2E tests + pytest with all extras in the CPU image
  nightly-cpu-tests:
    timeout-minutes: 30
    name: Nightly CPU Tests
    needs: [build-docker-cpu-nightly]
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
    container:
      image: ${{ needs.build-docker-cpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Run pytest on CPU
        run: pytest tests -vv --maxfail=10
      - name: Run end-to-end tests
        run: make test-end-to-end
 
  # This job runs the E2E tests + pytest with all extras in the GPU image
  nightly-gpu-tests:
    timeout-minutes: 30
    name: Nightly GPU Tests
    needs: [build-docker-gpu-nightly]
    runs-on:
      group: aws-g6-4xlarge-plus
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
    container:
      image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --gpus all --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Run pytest on GPU
        run: pytest tests -vv --maxfail=10
      - name: Run end-to-end tests
        run: make test-end-to-end
 
  # This job runs multi-GPU training tests with 4 GPUs
  nightly-multi-gpu-tests:
    timeout-minutes: 30
    name: Nightly Multi-GPU Tests
    needs: [build-docker-gpu-nightly]
    runs-on:
      group: aws-g4dn-12xlarge  # Instance with 4 GPUs
    env:
      HF_HOME: /home/user_lerobot/.cache/huggingface
      HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
      TORCH_HOME: /home/user_lerobot/.cache/torch
      TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
      CUDA_VISIBLE_DEVICES: "0,1,2,3"
    container:
      image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
      options: --gpus all --shm-size "16gb"
      credentials:
        username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
        password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
    defaults:
      run:
        shell: bash
        working-directory: /lerobot
    steps:
      - name: Verify GPU availability
        run: |
          nvidia-smi
          python -c "import torch; print(f'PyTorch CUDA available: {torch.cuda.is_available()}'); print(f'Number of GPUs: {torch.cuda.device_count()}')"
 
      - name: Run multi-GPU training tests
      # TODO(Steven): Investigate why motors tests are failing in multi-GPU setup
        run: pytest tests -vv --maxfail=10 --ignore=tests/motors/
        timeout-minutes: 10

What changed

Add a job timeout so a hung step cannot burn hours of runner time.

3 third-party actions are referenced by a movable tag. Pin them to the commit SHA (Latchkey resolves and applies this automatically) so a repointed tag cannot change what runs.

What Latchkey heals here

This workflow has steps that commonly fail on transient issues (network, registries, flaky browsers). On Latchkey managed runners they are detected, retried, and self-healed instead of failing your build:

Dependency installs
Container pulls and builds
End-to-end and browser tests

This workflow runs 5 jobs per trigger. On Latchkey the same minutes cost up to 58% less than GitHub-hosted, with zero queue time.

Actions used in this workflow

actions/checkout docker/setup-buildx-action docker/login-action docker/build-push-action