[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722)

docker/lerobot-gpu-mani-skill/Dockerfile

@@ -0,0 +1,11 @@
+FROM huggingface/lerobot-gpu:latest
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libvulkan1 vulkan-tools \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+RUN pip install --upgrade --no-cache-dir pip
+RUN pip install --no-cache-dir ".[mani-skill]"
+
+# Set EGL as the rendering backend for MuJoCo
+ENV MUJOCO_GL="egl"