Integrates 5 selected RoboCasa kitchen tasks (3 short + 2 long) as a
LeRobot benchmark environment, following the same pattern as Libero.
Selected tasks:
Short: PickPlaceCounterToCabinet, PrepareToast, CoffeeSetupMug
Long: PrepareCoffee, RestockPantry
Changes:
- envs/robocasa.py: RoboCasaEnv wrapper with flat 12D Box action space,
3-camera pixel obs, and 16D proprioceptive state
- envs/configs.py: RoboCasaEnv config with features_map
- envs/factory.py: wire robocasa into make_env + make_env_pre_post_processors
- processor/env_processor.py: RoboCasaProcessorStep for obs key remapping
- tests/test_robocasa_env.py: full test suite (auto-skips if assets missing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Pepijn