feat(envs): add RoboCasa365 benchmark integration (#3375)

* feat(envs): add RoboCasa365 benchmark integration

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

* fix(docker): use uv pip to install robocasa in benchmark image

The huggingface/lerobot-gpu base image uses `uv` with a venv at
/lerobot/.venv — `pip` is not on PATH, so `pip install` fails with
"pip: not found". Switch to `uv pip install` which installs into the
existing venv.

Also drop the @v1.0.0 tag pin from the robocasa git URL since the
upstream repo may not have that tag; use default branch instead.

* fix(robocasa): editable install + switch to lerobot/smolvla_robocasa

- pip install from git omits data files like box_links_assets.json
  (not declared in package_data). Clone and install editable so the
  source tree is used at runtime.
- Download only tex + fixtures_lw asset types (smoke test doesn't need
  objaverse/aigen objects). Pipe 'y' to auto-accept download prompt.
- Switch CI policy from pepijn223/smolvla_robocasa to lerobot/smolvla_robocasa.

* fix(docker): re-install lerobot editably after COPY

The nightly huggingface/lerobot-gpu image predates the RoboCasaEnv
registration — so `lerobot-eval --env.type=robocasa` fails at argparse
with "invalid choice" even after COPY . . overlays the new source.
Force an editable reinstall so the venv picks up the current configs.py.


* fix(ci): add rename_map for robocasa eval (image* -> camera*)

Policy lerobot/smolvla_robocasa expects observation.images.camera1/2/3,
but RoboCasaEnv produces observation.images.image/image2/image3.

* fix(robocasa): override RoboCasaGymEnv default split (test -> all)

RoboCasaGymEnv defaults split="test", but create_env only accepts
{None, "all", "pretrain", "target"}, so the out-of-the-box default
crashes with ValueError. Always pass "all" when split is None.


* fix(docker): also download objs_lw (lightwheel objects) for robocasa

Kitchen tasks (e.g. CloseFridge) reference lightwheel object meshes
like Stool022/model.xml. fixtures_lw alone isn't enough — we also
need objs_lw. Still skipping objaverse/aigen to keep image size down.

Made-with: Cursor

* feat(robocasa): raw camera names + benchmark-group task shortcuts

Align the LeRobot env with RoboCasa's native conventions so policies
trained on the upstream datasets don't need a --rename_map at eval
time, and expose the standard task groups as first-class --env.task
values.

- Preserve raw RoboCasa camera names (e.g. robot0_agentview_left)
  as observation.images.<name> end-to-end. Drops camera_name_mapping
  and DEFAULT_CAMERA_NAME_MAPPING; features/features_map are now
  built dynamically from the parsed camera list.
- Accept benchmark-group names as --env.task: atomic_seen,
  composite_seen, composite_unseen, pretrain50/100/200/300. Expanded
  lazily via robocasa.utils.dataset_registry and auto-sets the
  split ("target" | "pretrain").
- Update CI smoke-eval rename_map to map raw cam names to the
  camera1/2/3 keys expected by lerobot/smolvla_robocasa.


* docs(robocasa): single-task smolvla train+eval recipe on pepijn223/robocasa_CloseFridge

- Rewrite observation section to use raw RoboCasa camera keys
  (observation.images.robot0_agentview_{left,right},
  observation.images.robot0_eye_in_hand).
- Add a "Training on a single task" section with a full smolvla
  training command on pepijn223/robocasa_CloseFridge, plus matching
  single-task eval command.
- Document benchmark-group task shortcuts (atomic_seen, composite_seen,
  composite_unseen, pretrain50/100/200/300) as valid --env.task values.


* fix(robocasa): restrict obj_registries to lightwheel by default

CloseFridge (and most kitchen tasks) crashed at reset with
`ValueError: Probabilities contain NaN` coming out of
`sample_kitchen_object_helper`. RoboCasa's upstream default
`obj_registries=("objaverse", "lightwheel")` normalizes per-registry
candidate counts as probabilities; when a sampled category has zero
mjcf paths in every configured registry (because the objaverse asset
pack isn't on disk — ~30GB, skipped by our Docker build), the 0/0
divide yields NaNs and `rng.choice` raises.

- Add `obj_registries: list[str] = ["lightwheel"]` to `RoboCasaEnv`
  config; thread it through `create_robocasa_envs`, `_make_env_fns`,
  and the gym.Env wrapper to the underlying `RoboCasaGymEnv` (which
  forwards to `create_env` → `robosuite.make` → kitchen env).
- Default matches what `download_kitchen_assets --type objs_lw`
  actually ships, so the env works out of the box without a 30GB
  objaverse download.
- Document the override (`--env.obj_registries='[objaverse,lightwheel]'`)
  for users who have downloaded the full asset set.


* fix(docker): also download tex_generative for robocasa benchmark

RoboCasa's lightwheel kitchen fixtures embed references to
`generative_textures/wall/tex*.png` directly in their MuJoCo XML, so
`MjModel.from_xml_string` errors out at reset time with
"No such file or directory" even when the env is constructed with
`generative_textures=None`. The generative textures live under a
separate asset registry key (`tex_generative`) in
`download_kitchen_assets`, distinct from the base `tex` pack we were
already fetching.

- Add `tex_generative` to the download list so the fixture XMLs
  resolve.
- Document the remaining omissions (objaverse/aigen, ~30GB) and how
  the runtime side pairs this with obj_registries=["lightwheel"] to
  avoid sampling from categories whose assets aren't on disk.

* ci(robocasa): smoke-eval 10 atomic tasks instead of 1

Broader coverage in the benchmark CI job: evaluate SmolVLA on ten
fixture-centric atomic RoboCasa tasks (one episode each) instead of
just CloseFridge. The tasks are all drawn from TARGET_TASKS.atomic_seen
and selected to avoid object-manipulation categories that would require
the objaverse/aigen asset packs (we only ship objs_lw in the Docker
image, paired with obj_registries=["lightwheel"] on the runtime side).

Tasks: CloseFridge, OpenCabinet, OpenDrawer, TurnOnMicrowave,
TurnOffStove, CloseToasterOvenDoor, SlideDishwasherRack,
TurnOnSinkFaucet, NavigateKitchen, TurnOnElectricKettle.

`scripts/ci/parse_eval_metrics.py` already handles multi-task output
via the `overall` key, so no parser changes needed. Bumped the metrics
artifact's task label to `atomic_smoke_10` to reflect the grouping.

* fix(pyproject): drop unresolvable robocasa extra

robocasa's upstream setup.py hardcodes `lerobot==0.3.3` in
install_requires. Exposing it as the `lerobot[robocasa]` extra made
uv's dep resolver cycle: `lerobot[robocasa]` -> robocasa -> lerobot
(a different version) -> unsolvable. This broke every `uv sync` — even
invocations with an unrelated extra like `--extra test` — because uv
validates the whole lockfile graph.

- Remove the `robocasa` extra from pyproject.toml. Installation
  instructions in docs/source/robocasa.mdx now walk users through the
  manual `git clone` + `pip install --no-deps` flow, which matches
  what the Docker image already does and sidesteps the cyclic dep
  entirely.
- Dockerfile: `uv pip install -e ~/robocasa --no-deps` so the
  shadowed lerobot==0.3.3 never lands in the image; install
  robocasa's actual runtime deps (numpy, numba, scipy, mujoco,
  tianshou, etc.) explicitly.

* docs(robocasa): align page with adding_benchmarks template

Rework docs/source/robocasa.mdx to follow the standard benchmark doc
structure: intro + links + available tasks (with family breakdown and
first-class benchmark-group shortcuts) + installation + eval +
recommended episodes + policy I/O + training + reproducing results.

- Fix the paper link (was pointing at a non-existent arxiv ID).
- Surface lerobot/smolvla_robocasa and pepijn223/robocasa_CloseFridge
  in the top-of-page links so they're findable without reading the
  training section.
- Add an explicit "Object registries" subsection explaining the
  `--env.obj_registries=[objaverse,lightwheel]` override path.
- Add an explicit "Reproducing published results" section pointing
  at the CI smoke eval.

* fix: integrate PR #3375 review feedback

- envs(robocasa): hoist the duplicated `_parse_camera_names` helper
  out of `libero.py` and `robocasa.py` into `envs/utils.py` as the
  public `parse_camera_names`; call sites updated.
- envs(robocasa): give each factory a distinct `episode_index`
  (`0..n_envs-1`) and derive a per-worker seed series in `reset()`
  so n_envs workers don't all roll the same scene under a shared
  outer seed.
- envs(robocasa): drop the unused `**kwargs` on `_make_env`; declare
  `visualization_height` / `visualization_width` on both the wrapper
  and the `RoboCasaEnv` config + propagate via `gym_kwargs`.
- envs(robocasa): emit `info["final_info"]` on termination (matching
  MetaWorld) so downstream vector-env auto-reset keeps the terminal
  task/success flags.
- docs(robocasa): add `--rename_map` (robot0_agentview_left/
  eye_in_hand/agentview_right → camera1/2/3) plus CI-parity flags to
  all three eval snippets.
- docker(robocasa): pin robocasa + robosuite git SHAs and the pip
  dep versions (pygame, Pillow, opencv-python, pyyaml, pynput, tqdm,
  termcolor, imageio, h5py, lxml, hidapi, gymnasium) for
  reproducible benchmark images.
- ci(robocasa): update the workflow comment — there is no
  `lerobot[robocasa]` extra; robocasa/robosuite are installed
  manually because upstream's `lerobot==0.3.3` pin shadows ours.

* docs(robocasa): add benchmark banner image

* fix(envs): preserve AsyncVectorEnv metadata/unwrapped in lazy eval envs

Port of #3416 onto this branch. Also threads the cached metadata
through the RoboCasa factory so async eval on `--env.type=robocasa`
keeps the same improvement.


* fix: integrate PR #3375 review feedback (round 2)

- envs(robocasa): when the caller passes `seed=None` to `reset()`,
  fall back to `self.episode_index` for the inner env seed so each
  worker still samples a distinct trajectory instead of all workers
  inheriting the same global RNG state.
- envs(robocasa): replace the two module-level `print()` calls in
  `create_robocasa_envs` with `logger.info(...)` via a module-level
  `logger = logging.getLogger(__name__)`.
- ci(robocasa): run `scripts/ci/extract_task_descriptions.py` after
  the eval so `metrics.json` carries per-task natural-language
  labels, matching LIBERO / MetaWorld / VLABench jobs. Added a
  `_robocasa_descriptions()` extractor that splits CamelCase task
  names into word-level labels keyed by `<task>_0`.

.github/workflows/benchmark_tests.yml

@@ -316,3 +316,103 @@ jobs:
           name: metaworld-metrics
           path: /tmp/metaworld-artifacts/metrics.json
           if-no-files-found: warn
+
+  # ── ROBOCASA365 ──────────────────────────────────────────────────────────
+  # Isolated image: robocasa + robosuite installed manually as editable
+  # clones (no `lerobot[robocasa]` extra — robocasa's setup.py pins
+  # `lerobot==0.3.3`, which would shadow this repo's lerobot).
+  robocasa-integration-test:
+    name: RoboCasa365 — build image + 1-episode eval
+    runs-on:
+      group: aws-g6-4xlarge-plus
+    env:
+      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
+
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          persist-credentials: false
+          lfs: true
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
+        with:
+          cache-binary: false
+
+      - name: Login to Docker Hub
+        if: ${{ env.DOCKERHUB_USERNAME != '' }}
+        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
+        with:
+          username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
+        env:
+          DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
+
+      - name: Build RoboCasa365 benchmark image
+        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
+        with:
+          context: .
+          file: docker/Dockerfile.benchmark.robocasa
+          push: false
+          load: true
+          tags: lerobot-benchmark-robocasa:ci
+
+      - name: Run RoboCasa365 smoke eval (10 atomic tasks, 1 episode each)
+        if: env.HF_USER_TOKEN != ''
+        run: |
+          docker run --name robocasa-eval --gpus all \
+            --shm-size=4g \
+            -e HF_HOME=/tmp/hf \
+            -e HF_USER_TOKEN="${HF_USER_TOKEN}" \
+            -e HF_HUB_DOWNLOAD_TIMEOUT=300 \
+            -e MUJOCO_GL=egl \
+            lerobot-benchmark-robocasa:ci \
+            bash -c "
+              hf auth login --token \"\$HF_USER_TOKEN\" --add-to-git-credential 2>/dev/null || true
+              lerobot-eval \
+                --policy.path=lerobot/smolvla_robocasa \
+                --env.type=robocasa \
+                --env.task=CloseFridge,OpenCabinet,OpenDrawer,TurnOnMicrowave,TurnOffStove,CloseToasterOvenDoor,SlideDishwasherRack,TurnOnSinkFaucet,NavigateKitchen,TurnOnElectricKettle \
+                --eval.batch_size=1 \
+                --eval.n_episodes=1 \
+                --eval.use_async_envs=false \
+                --policy.device=cuda \
+                '--rename_map={\"observation.images.robot0_agentview_left\": \"observation.images.camera1\", \"observation.images.robot0_eye_in_hand\": \"observation.images.camera2\", \"observation.images.robot0_agentview_right\": \"observation.images.camera3\"}' \
+                --output_dir=/tmp/eval-artifacts
+              python scripts/ci/extract_task_descriptions.py \
+                --env robocasa \
+                --task CloseFridge,OpenCabinet,OpenDrawer,TurnOnMicrowave,TurnOffStove,CloseToasterOvenDoor,SlideDishwasherRack,TurnOnSinkFaucet,NavigateKitchen,TurnOnElectricKettle \
+                --output /tmp/eval-artifacts/task_descriptions.json
+            "
+
+      - name: Copy RoboCasa365 artifacts from container
+        if: always()
+        run: |
+          mkdir -p /tmp/robocasa-artifacts
+          docker cp robocasa-eval:/tmp/eval-artifacts/. /tmp/robocasa-artifacts/ 2>/dev/null || true
+          docker rm -f robocasa-eval || true
+
+      - name: Parse RoboCasa365 eval metrics
+        if: always()
+        run: |
+          python3 scripts/ci/parse_eval_metrics.py \
+            --artifacts-dir /tmp/robocasa-artifacts \
+            --env robocasa \
+            --task atomic_smoke_10 \
+            --policy lerobot/smolvla_robocasa
+
+      - name: Upload RoboCasa365 rollout video
+        if: always()
+        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
+        with:
+          name: robocasa-rollout-video
+          path: /tmp/robocasa-artifacts/videos/
+          if-no-files-found: warn
+
+      - name: Upload RoboCasa365 eval metrics
+        if: always()
+        uses: actions/upload-artifact@v4 # zizmor: ignore[unpinned-uses]
+        with:
+          name: robocasa-metrics
+          path: /tmp/robocasa-artifacts/metrics.json
+          if-no-files-found: warn