Add Galaxea G0.5-DROID for non-commercial evaluation

.basedpyright/baseline.json

@@ -5628,24 +5628,6 @@
                 }
             }
         ],
-        "./positronic/simulator/env_server/client.py": [
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 22,
-                    "endColumn": 33,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 26,
-                    "endColumn": 50,
-                    "lineCount": 1
-                }
-            }
-        ],
         "./positronic/simulator/env_server/proxy.py": [
             {
                 "code": "reportOptionalMemberAccess",
@@ -5656,24 +5638,6 @@
                 }
             }
         ],
-        "./positronic/simulator/env_server/server.py": [
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 40,
-                    "endColumn": 60,
-                    "lineCount": 1
-                }
-            },
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 28,
-                    "endColumn": 42,
-                    "lineCount": 1
-                }
-            }
-        ],
         "./positronic/simulator/env_server/tests/mujoco_env.py": [
             {
                 "code": "reportArgumentType",
@@ -6364,16 +6328,6 @@
                 }
             }
         ],
-        "./positronic/simulator/robolab/launcher.py": [
-            {
-                "code": "reportArgumentType",
-                "range": {
-                    "startColumn": 24,
-                    "endColumn": 42,
-                    "lineCount": 1
-                }
-            }
-        ],
         "./positronic/simulator/robolab/make_fixture.py": [
             {
                 "code": "reportMissingImports",

.dockerignore

@@ -15,6 +15,7 @@ build
 
 # Virtual environments
 .venv
+.venv-*
 venv
 env
 ENV

docker/CONTEXTS.md

@@ -15,9 +15,13 @@
 | `positro/openpi` | OpenPI training and inference |
 | `positro/dreamzero` | DreamZero inference (1+ GPU, H100 80GB recommended) |
 | `positro/robolab` | RoboLab (Isaac Lab) eval — runs `positronic eval run`, which spawns the Isaac sim subprocess in-container; needs an RTX-class GPU |
+| `positro/galaxea` | G0.5-DROID inference, internal non-commercial evaluation only; isolated Galaxea and Positronic Python environments |
 
 Build and push all: `make push`
 
+Galaxea is opt-in: `make build-galaxea`. Its evaluation-only image is excluded from
+aggregate builds and pushes; see [the vendor README](../positronic/vendors/galaxea/README.md).
+
 ## References
 
 - Service definitions and compose commands: `docker-compose.yml`

docker/Dockerfile.galaxea

@@ -0,0 +1,45 @@
+# Internal, non-commercial evaluation only. See positronic/vendors/galaxea/NOTICE and LICENSE-G0.5.
+FROM ubuntu:22.04
+
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /uvx /bin/
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential cmake git ca-certificates ffmpeg \
+    libgl1 libglib2.0-0 libsm6 libxext6 libturbojpeg \
+    && rm -rf /var/lib/apt/lists/*
+
+# Keep interpreter symlinks outside the host-mounted cache directories.
+ENV UV_PYTHON_INSTALL_DIR=/opt/uv/python \
+    UV_LINK_MODE=copy \
+    UV_HTTP_TIMEOUT=600 \
+    NVIDIA_VISIBLE_DEVICES=all \
+    NVIDIA_DRIVER_CAPABILITIES=compute,utility
+
+ARG GALAXEA_SHA=89f2322b4ad016e192437adc1a2c253b05bab246
+RUN git clone https://github.com/OpenGalaxea/GalaxeaVLA.git /galaxea \
+    && git -C /galaxea checkout ${GALAXEA_SHA}
+
+WORKDIR /galaxea
+COPY positronic/vendors/galaxea/requirements-inference.txt /galaxea/requirements-inference.txt
+# Export versions without installing Galaxea's training and simulation dependencies.
+RUN --mount=type=cache,target=/root/.cache/uv \
+    uv export --frozen --no-dev --no-emit-project --no-hashes --format requirements-txt \
+        --output-file /galaxea/constraints.txt \
+    && uv venv --python 3.10 /galaxea/.venv \
+    && uv pip install --python /galaxea/.venv/bin/python \
+        --index https://pypi.org/simple --default-index https://download.pytorch.org/whl/cu128 \
+        --index-strategy unsafe-best-match \
+        --constraint /galaxea/constraints.txt --requirement /galaxea/requirements-inference.txt
+
+WORKDIR /positronic
+COPY . /positronic
+ENV UV_PROJECT_ENVIRONMENT=/opt/positronic-venv \
+    PYTHONPATH=/positronic
+RUN --mount=type=cache,target=/root/.cache/uv \
+    uv sync --frozen --no-dev --python 3.13
+
+LABEL org.opencontainers.image.description="G0.5-DROID for internal, non-commercial evaluation only" \
+    org.opencontainers.image.licenses="Apache-2.0 AND LicenseRef-G0.5-Community-1.0"
+
+EXPOSE 8000
+ENTRYPOINT ["/opt/positronic-venv/bin/python", "-m", "positronic.vendors.galaxea.server"]

docker/Makefile

@@ -1,38 +1,35 @@
 .PHONY: all build tag push clean prune help build-training tag-training push-training build-openpi tag-openpi push-openpi build-groot tag-groot push-groot build-dreamzero-base push-dreamzero-base build-dreamzero tag-dreamzero push-dreamzero build-robolab tag-robolab push-robolab nebius-login push-robolab-cr
+.PHONY: build-galaxea tag-galaxea push-galaxea
 
-# Image configuration
 IMAGE_NAME_TRAINING := positro/positronic
 IMAGE_NAME_OPENPI := positro/openpi
 IMAGE_NAME_GROOT := positro/gr00t
 IMAGE_NAME_DREAMZERO := positro/dreamzero
 IMAGE_NAME_DREAMZERO_BASE := positro/dreamzero-base
 IMAGE_NAME_OPENPI_BASE := positro/openpi-base
 IMAGE_NAME_ROBOLAB := positro/robolab
+IMAGE_NAME_GALAXEA := positro/galaxea
 
-# Extract version from pyproject.toml (first literal version entry)
 VERSION := $(shell sed -n 's/^version = "\([^"]*\)"/\1/p' ../pyproject.toml | head -n 1)
 
-# Get git commit SHA (short)
 GIT_SHA := $(shell git rev-parse --short HEAD 2>/dev/null || echo "unknown")
 
-# Branch name sanitized for Docker tags (replace / with -)
+# Docker tags cannot contain slashes.
 BRANCH := $(shell git rev-parse --abbrev-ref HEAD 2>/dev/null | tr '/' '-')
 
 # IMAGE_TAG: branch name locally, overridable via `make push IMAGE_TAG=foo`
 IMAGE_TAG ?= $(BRANCH)
 
 REGISTRY_URL ?= docker.io
 
-# Nebius Container Registry — opt-in path for an in-region pull from serverless
-# jobs (the `push-*` targets above stay on Docker Hub and are unchanged). Override
-# NEBIUS_REGISTRY for a different project/registry; set NEBIUS_PROFILE to use a
+# Nebius publishing is opt-in for in-region pulls; default push targets use Docker Hub.
+# Override NEBIUS_REGISTRY for a different project/registry; set NEBIUS_PROFILE to use a
 # non-default `nebius` CLI profile (e.g. a service-account profile for headless
 # CI). Auth goes through the nebius credential helper — no registry secret here.
 NEBIUS_REGISTRY ?= cr.eu-north1.nebius.cloud/e00a0ahqzcp9x0xczz
 NEBIUS_REGISTRY_HOST := $(firstword $(subst /, ,$(NEBIUS_REGISTRY)))
 NEBIUS_PROFILE_FLAG := $(if $(NEBIUS_PROFILE),--profile $(NEBIUS_PROFILE),)
 
-# Local build tags
 LOCAL_TAG_TRAINING := $(IMAGE_NAME_TRAINING):local
 
 # Base image tags (not parameterized — these are heavy foundational images)
@@ -52,6 +49,7 @@ help:
 	@echo ""
 	@echo "Targets:"
 	@echo "  make build-training  Build the training image"
+	@echo "  make build-galaxea   Build the internal non-commercial evaluation image"
 	@echo "  make build           Build training, openpi and groot images"
 	@echo ""
 	@echo "  make tag-training    Tag the training image (depends on build-training)"
@@ -99,6 +97,17 @@ build-robolab:
 	@echo "Building $(IMAGE_NAME_ROBOLAB)..."
 	docker build --platform linux/amd64 -f Dockerfile.robolab -t $(IMAGE_NAME_ROBOLAB):local ..
 
+build-galaxea:
+	docker build --platform linux/amd64 -f Dockerfile.galaxea -t $(IMAGE_NAME_GALAXEA):local ..
+
+tag-galaxea: build-galaxea
+	docker tag $(IMAGE_NAME_GALAXEA):local $(IMAGE_NAME_GALAXEA):$(IMAGE_TAG)
+	docker tag $(IMAGE_NAME_GALAXEA):local $(IMAGE_NAME_GALAXEA):$(GIT_SHA)
+
+push-galaxea: tag-galaxea
+	docker push $(IMAGE_NAME_GALAXEA):$(IMAGE_TAG)
+	docker push $(IMAGE_NAME_GALAXEA):$(GIT_SHA)
+
 build: build-training build-openpi build-groot build-dreamzero build-robolab
 
 tag-training: build-training
@@ -252,6 +261,7 @@ endif
 
 all: push
 
+# Optional image tags can be absent; removal errors must not stop attempts on the other tags.
 clean:
 	@echo "Removing all local images..."
 	-docker rmi $(LOCAL_TAG_TRAINING)
@@ -270,7 +280,10 @@ clean:
 	-docker rmi $(IMAGE_NAME_ROBOLAB):local
 	-docker rmi $(IMAGE_NAME_ROBOLAB):$(IMAGE_TAG)
 	-docker rmi $(IMAGE_NAME_ROBOLAB):$(GIT_SHA)
-	@echo "All local images removed."
+	-docker rmi $(IMAGE_NAME_GALAXEA):local
+	-docker rmi $(IMAGE_NAME_GALAXEA):$(IMAGE_TAG)
+	-docker rmi $(IMAGE_NAME_GALAXEA):$(GIT_SHA)
+	@echo "Image cleanup attempts complete. Check the output for removal errors."
 
 prune:
 	@echo "Pruning dangling and unused Docker images..."

docker/README.md

@@ -44,3 +44,12 @@ docker/build.sh
 
 If you customize `docker-compose.yml` volumes, **do not bind-mount** your host `~/.local/share/uv` into `/root/.local/share/uv` for `positro/gr00t` images.
 GR00T's `/.venv/bin/python` can be a symlink into the image's own uv-managed CPython under `/root/.local/share/uv/python/...`, and the bind mount can hide that target and cause `/.venv/bin/python` to fail with `ENOENT`.
+
+## Galaxea: internal evaluation access
+
+The `galaxea-server` service publishes port 8000 on the Docker host's localhost.
+Use Docker Engine 28 or newer with default bridge networking. Remote DROID clients
+connect through SSH forwarding; RoboLab uses `galaxea-server:8000` on the same
+Compose network and Docker daemon. Start the server with `--service-ports --use-aliases`.
+See the [Galaxea setup](../positronic/vendors/galaxea/README.md#start-the-server)
+for the commands and internal, non-commercial usage conditions.

docker/docker-compose.yml

@@ -3,7 +3,6 @@ services:
     image: positro/positronic:${IMAGE_TAG:-latest}
     pull_policy: always
 
-    # Enable interactive terminal
     stdin_open: true
     tty: true
 
@@ -16,7 +15,6 @@ services:
               count: all
               capabilities: [compute, graphics, utility]
 
-    # Volume mounts
     volumes:
       - ${CACHE_ROOT:-${HOME}}/.cache:/root/.cache
       - ${CACHE_ROOT:-${HOME}}/.aws:/root/.aws:ro
@@ -35,7 +33,6 @@ services:
   positronic: &openpi-common
     image: positro/openpi:${IMAGE_TAG:-latest}
 
-    # Enable interactive terminal
     stdin_open: true
     tty: true
 
@@ -48,7 +45,6 @@ services:
               count: all
               capabilities: [compute, graphics, utility]
 
-    # Volume mounts
     volumes:
       - ${CACHE_ROOT:-${HOME}}/.cache:/root/.cache
       - ${CACHE_ROOT:-${HOME}}/.aws:/root/.aws:ro
@@ -164,7 +160,6 @@ services:
   positronic-groot: &groot-common
     image: positro/gr00t:${IMAGE_TAG:-latest}
 
-    # Enable interactive terminal
     stdin_open: true
     tty: true
 
@@ -177,7 +172,6 @@ services:
               count: all
               capabilities: [compute, graphics, utility]
 
-    # Volume mounts
     volumes:
       - ${CACHE_ROOT:-${HOME}}/.cache:/root/.cache
       - ${CACHE_ROOT:-${HOME}}/.aws:/root/.aws:ro
@@ -200,7 +194,7 @@ services:
     <<: *groot-common
     container_name: groot-train
     shm_size: 8g
-    ipc: host  # Enable shared memory access for training
+    ipc: host
     entrypoint: ["uv", "run", "--python", "3.13", "python", "-m", "positronic.vendors.gr00t.train"]
 
   groot-server: &groot-server-common
@@ -213,11 +207,9 @@ services:
   positronic-dreamzero: &dreamzero-common
     image: positro/dreamzero:${IMAGE_TAG:-latest}
 
-    # Enable interactive terminal
     stdin_open: true
     tty: true
 
-    # GPU support
     deploy:
       resources:
         reservations:
@@ -226,7 +218,6 @@ services:
               count: all
               capabilities: [compute, graphics, utility]
 
-    # Volume mounts
     volumes:
       - ${CACHE_ROOT:-${HOME}}/.cache:/root/.cache
       - ${CACHE_ROOT:-${HOME}}/.aws:/root/.aws:ro
@@ -257,6 +248,25 @@ services:
     ipc: host
     entrypoint: ["uv", "run", "--python", "3.13", "python", "-m", "positronic.vendors.dreamzero.train"]
 
+  # Galaxea model use is restricted to internal, non-commercial evaluation; see vendors/galaxea/NOTICE.
+  galaxea-server:
+    image: positro/galaxea:${IMAGE_TAG:-latest}
+    init: true
+    shm_size: 8g
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [compute, utility]
+    volumes:
+      - ${CACHE_ROOT:-${HOME}}/.cache:/root/.cache
+      - ${CACHE_ROOT:-${HOME}}/.aws:/root/.aws:ro
+      - ${CACHE_ROOT:-${HOME}}/.cache/galaxea/checkpoints:/galaxea/checkpoints
+    ports:
+      - "127.0.0.1:8000:8000"
+
   robolab-eval:
     image: positro/robolab:${IMAGE_TAG:-latest}