Clean bootstrap: install lerobot[pi] directly, no patches, no PYTHONPATH

bootstrap.sh

@@ -58,8 +58,12 @@ docker run --rm --runtime=nvidia \
     -e DATASET_DIR="$DATASET_DIR" \
     -v /ephemeral:/ephemeral \
     -v "$REPO_DIR:/workspace/pi05-so100-diverse" \
-    -e PYTHONPATH="" \
-    pi05-training "pip install -q 'transformers>=5.0.0' \
-        && SITE_PKG=\$(python3 -c \"import lerobot,os; print(os.path.dirname(lerobot.__path__[0]))\") \
-        && bash /workspace/pi05-so100-diverse/lerobot_patches/apply.sh \$SITE_PKG \
-        && bash /workspace/pi05-so100-diverse/train_cloud.sh"
+    pi05-training "apt-get update -qq && apt-get install -y -qq software-properties-common > /dev/null \
+        && add-apt-repository ppa:deadsnakes/ppa -y > /dev/null && apt-get update -qq \
+        && apt-get install -y -qq python3.12 python3.12-venv python3.12-dev > /dev/null \
+        && python3.12 -m ensurepip > /dev/null \
+        && cd /workspace/pi05-so100-diverse/lerobot && python3.12 -m pip install -q -e '.[pi]' \
+        && python3.12 -m pip install -q accelerate wandb huggingface_hub \
+        && python3.12 -m pip install -q torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu124 \
+        && cd /workspace/pi05-so100-diverse \
+        && bash train_cloud.sh"

train_cloud.sh

@@ -29,7 +29,7 @@ if [ "$NUM_GPUS" -gt 1 ]; then
     ACCEL_FLAGS="--multi_gpu --num_processes $NUM_GPUS"
 fi
 
-accelerate launch $ACCEL_FLAGS \
+python3.12 -m accelerate.commands.launch $ACCEL_FLAGS \
 -m lerobot.scripts.lerobot_train \
 --dataset.repo_id="so100:$DATASET_DIR:/workspace/pi05-so100-diverse/filtered_index.json:/workspace/pi05-so100-diverse/norm_stats.json" \
 --policy.path=lerobot/pi05_base \