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fix(envs): use RoboCasa task horizons (#4037)

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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
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Anas
2026-07-30 06:20:56 -07:00
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@@ -82,6 +82,8 @@ By default the env samples objects only from the `lightwheel` registry (what `--
All eval snippets below mirror the CI command (see `.github/workflows/benchmark_tests.yml`). The `--rename_map` argument maps RoboCasa's native camera keys (`robot0_agentview_left` / `robot0_eye_in_hand` / `robot0_agentview_right`) onto the three-camera (`camera1` / `camera2` / `camera3`) input layout the released `smolvla_robocasa` policy was trained on.
By default, each task uses the rollout horizon registered by RoboCasa. Set `--env.episode_length=<steps>` to apply the same explicit horizon to every selected task.
### Single-task evaluation (recommended for quick iteration)
```bash