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feat(envs): add RoboCasa365 benchmark integration

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Add RoboCasa365 (arXiv:2603.04356) as a new simulation benchmark with
365 everyday kitchen manipulation tasks across 2,500 diverse environments.

New files:
- src/lerobot/envs/robocasa.py: gym.Env wrapper with deferred env creation,
  flat 12D action / 16D state vectors, 3-camera support
- docs/source/robocasa.mdx: user-facing documentation
- docker/Dockerfile.benchmark.robocasa: CI benchmark image

Modified files:
- src/lerobot/envs/configs.py: RoboCasaEnv config (--env.type=robocasa)
- pyproject.toml: robocasa optional dependency group
- docs/source/_toctree.yml: sidebar entry
- .github/workflows/benchmark_tests.yml: integration test job

Refs: https://arxiv.org/abs/2603.04356, https://robocasa.ai
Related: huggingface/lerobot#321

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-14 11:25:25 +02:00
parent a656a982af
commit 69ed70edeb
7 changed files with 705 additions and 0 deletions
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docs/source/_toctree.yml
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@@ -79,6 +79,8 @@
title: LIBERO
- local: metaworld
title: Meta-World
- local: robocasa
title: RoboCasa365
- local: envhub_isaaclab_arena
title: NVIDIA IsaacLab Arena Environments
title: "Benchmarks"