style: remove decorative comment separator in transforms.py

Made-with: Cursor

docs/source/_toctree.yml

@@ -31,6 +31,8 @@
     title: Using Subtasks in the Dataset
   - local: streaming_video_encoding
     title: Streaming Video Encoding
+  - local: multi_dataset_training
+    title: Multi-Dataset Training
   title: "Datasets"
 - sections:
   - local: act

docs/source/multi_dataset_training.mdx

@@ -0,0 +1,232 @@
+# Multi-Dataset Training
+
+This guide covers how to train a single policy on multiple heterogeneous datasets using `MultiLeRobotDataset`.
+
+## Overview
+
+Real-world robot learning datasets come from different environments, robots, and camera setups. A RoboCasa dataset might have three cameras named `robot0_agentview_left`, `robot0_agentview_right`, and `robot0_eye_in_hand`, while a LIBERO dataset uses `observation.images.front` and `observation.images.wrist`, and a RoboMME dataset uses bare `image` and `wrist_image` keys. State and action dimensions also differ.
+
+`MultiLeRobotDataset` lets you train on all of them jointly by:
+
+- **Mapping** each dataset's feature keys into a shared namespace
+- **Padding** features that a dataset doesn't have with zeros
+- **Weighting** how often each dataset is sampled
+- **Transforming** samples per-dataset (e.g. padding actions to a common dimension)
+- **Aggregating** statistics across all sub-datasets for normalization
+
+## Configuration
+
+Multi-dataset training is configured via `MultiDatasetConfig` in a YAML config file. Instead of a single `dataset.repo_id`, you provide a `datasets` list where each entry is a `SubDatasetConfig`.
+
+### SubDatasetConfig fields
+
+| Field | Type | Default | Description |
+|-------|------|---------|-------------|
+| `repo_id` | `str` | required | HuggingFace repo ID or local dataset name |
+| `root` | `str \| None` | `None` | Local root directory for the dataset |
+| `episodes` | `list[int] \| None` | `None` | Subset of episode indices to use |
+| `revision` | `str \| None` | `None` | Dataset version / revision |
+| `video_backend` | `str` | auto | Video decoding backend (`pyav`, `torchcodec`, etc.) |
+| `weight` | `float` | `1.0` | Relative sampling weight for this dataset |
+| `feature_map` | `dict[str, str]` | `{}` | Maps dataset keys to unified policy keys |
+| `transforms` | `list` | `None` | Per-dataset transform steps (applied per sample) |
+
+### Example: Three-dataset config
+
+```yaml
+dataset:
+  type: multi
+  use_imagenet_stats: true
+  datasets:
+    # RoboCasa: 3 cameras, state(16), action(12)
+    - repo_id: pepijn223/robocasa_PrepareCoffee
+      root: /data/robocasa_PrepareCoffee
+      weight: 1.0
+      feature_map:
+        observation.images.robot0_agentview_left: observation.images.front_left
+        observation.images.robot0_agentview_right: observation.images.front_right
+        observation.images.robot0_eye_in_hand: observation.images.wrist
+
+    # LIBERO-plus: 2 cameras, state(8), action(7)
+    - repo_id: pepijn223/libero_plus_lerobot
+      root: /data/libero_plus_lerobot
+      weight: 0.5
+      feature_map:
+        observation.images.front: observation.images.front_left
+        observation.images.wrist: observation.images.wrist
+      transforms:
+        - type: pad_action
+          kwargs: {target_dim: 12}
+        - type: pad_state
+          kwargs: {target_dim: 16}
+
+    # RoboMME: 2 cameras (non-standard keys), state(8), action(8)
+    - repo_id: pepijn223/robomme_data_lerobot
+      root: /data/robomme_data_lerobot
+      weight: 0.3
+      feature_map:
+        image: observation.images.front_left
+        wrist_image: observation.images.wrist
+        state: observation.state
+        actions: action
+      transforms:
+        - type: pad_action
+          kwargs: {target_dim: 12}
+        - type: pad_state
+          kwargs: {target_dim: 16}
+```
+
+## Feature Mapping
+
+The `feature_map` dictionary renames dataset-local keys into a shared namespace. Keys not listed pass through unchanged. In the example above, all three datasets end up with the same camera key names (`observation.images.front_left`, `observation.images.wrist`) even though they use different conventions internally.
+
+After mapping, the **union** of all features across datasets defines the unified schema. If a feature exists in some datasets but not others, it is automatically zero-padded for datasets that lack it, and a boolean `{key}_is_pad` flag is added to the sample so the policy can optionally mask padded features.
+
+## Automatic Padding
+
+When a sub-dataset doesn't have a feature that exists in the unified schema:
+
+- **Images/videos**: padded with a black frame (zeros) matching the expected resolution
+- **Float tensors** (state, action): padded with zeros
+- **Integer/bool tensors**: padded with zeros / False
+
+A companion `{key}_is_pad = True` tensor is added so the model can distinguish real data from padding.
+
+## Per-Dataset Transforms
+
+Each sub-dataset can have its own `transforms` pipeline that runs after feature renaming but before cross-dataset padding. This is useful for making shapes compatible before PyTorch's collate function stacks the batch.
+
+### Built-in transforms
+
+| Name | Description | Parameters |
+|------|-------------|------------|
+| `pad_action` | Zero-pad `action` to a target dimension | `target_dim: int` |
+| `pad_state` | Zero-pad `observation.state` to a target dimension | `target_dim: int` |
+| `resize_images` | Resize all `observation.images.*` tensors | `height: int`, `width: int` |
+
+### Custom transforms
+
+You can register your own transforms in `lerobot/datasets/transforms.py`:
+
+```python
+from lerobot.datasets.transforms import DatasetTransformStep, register_dataset_transform
+
+@register_dataset_transform("my_transform")
+class MyTransform(DatasetTransformStep):
+    def __init__(self, some_param: int):
+        self.some_param = some_param
+
+    def __call__(self, sample: dict) -> dict:
+        # Modify sample in-place or return a new dict
+        sample["action"] = sample["action"] * self.some_param
+        return sample
+```
+
+Then reference it in the config:
+
+```yaml
+transforms:
+  - type: my_transform
+    kwargs: {some_param: 2}
+```
+
+## Weighted Sampling
+
+The `weight` field on each sub-dataset controls how often it is sampled during training. Weights are relative and automatically normalized to probabilities. For example, with weights `[1.0, 0.5, 0.3]`, the first dataset is sampled roughly 56% of the time, the second 28%, and the third 16%.
+
+This uses `WeightedEpisodeAwareSampler`, which respects episode boundaries (so `drop_n_last_frames` and similar policy settings work correctly) while sampling across datasets proportionally.
+
+## Stats Aggregation
+
+Normalization statistics (mean, std, min, max, quantiles) are automatically aggregated across all sub-datasets using the mapped feature keys. The aggregation uses a weighted parallel variance algorithm so that datasets with more frames contribute proportionally to the global statistics.
+
+The aggregated stats are used by the standard LeRobot preprocessor for normalization during training.
+
+## Training
+
+Launch training the same way as single-dataset training. The factory and training script automatically detect `MultiDatasetConfig` and set up the weighted sampler:
+
+```bash
+python -m lerobot.scripts.lerobot_train \
+    --config_path path/to/multi_dataset_config.yaml
+```
+
+## Architecture
+
+The data flow during training with `MultiLeRobotDataset`:
+
+```
+┌─────────────────────────────────────────────────────────┐
+│  MultiLeRobotDataset.__getitem__(global_idx)            │
+│                                                         │
+│  1. Map global_idx → (dataset_idx, local_idx)           │
+│  2. Fetch sample from sub-dataset                       │
+│  3. Rename keys via feature_map                         │
+│  4. Apply per-dataset transforms (pad_action, etc.)     │
+│  5. Zero-pad missing features + add _is_pad flags       │
+│  6. Add dataset_index tag                               │
+└─────────────────────┬───────────────────────────────────┘
+                      │
+         ┌────────────▼────────────┐
+         │  PyTorch DataLoader     │
+         │  (collates into batch)  │
+         └────────────┬────────────┘
+                      │
+         ┌────────────▼────────────┐
+         │  LeRobot Preprocessor   │
+         │  (normalize, tokenize)  │
+         └────────────┬────────────┘
+                      │
+         ┌────────────▼────────────┐
+         │  Policy forward + loss  │
+         └─────────────────────────┘
+```
+
+## API Reference
+
+### `NewMultiLeRobotDataset`
+
+```python
+from lerobot.datasets.multi_dataset import NewMultiLeRobotDataset
+
+dataset = NewMultiLeRobotDataset(
+    configs=[...],           # list[SubDatasetConfig]
+    image_transforms=None,   # optional image augmentation
+    delta_timestamps=None,   # optional temporal neighbors
+    tolerance_s=1e-4,        # timestamp tolerance
+)
+
+dataset.num_frames      # total frames across all sub-datasets
+dataset.num_episodes    # total episodes
+dataset.meta            # MultiDatasetMeta (stats, features, episodes)
+dataset.dataset_weights # list of per-dataset weights
+dataset.features        # unified feature dict (union of all mapped features)
+dataset.camera_keys     # unified camera key list
+```
+
+### `WeightedEpisodeAwareSampler`
+
+```python
+from lerobot.datasets.sampler import WeightedEpisodeAwareSampler
+
+sampler = WeightedEpisodeAwareSampler(
+    dataset_from_indices=dataset.meta.episodes["dataset_from_index"],
+    dataset_to_indices=dataset.meta.episodes["dataset_to_index"],
+    dataset_membership=dataset.meta.episodes["dataset_source"],
+    dataset_weights=dataset.dataset_weights,
+    shuffle=True,
+)
+```
+
+### `DatasetTransformPipeline`
+
+```python
+from lerobot.datasets.transforms import DatasetTransformPipeline, DatasetTransformStepConfig
+
+pipeline = DatasetTransformPipeline([
+    DatasetTransformStepConfig(type="pad_action", kwargs={"target_dim": 12}),
+    DatasetTransformStepConfig(type="pad_state", kwargs={"target_dim": 16}),
+])
+
+sample = pipeline(sample)  # modifies the sample dict
+```

pyproject.toml

@@ -175,6 +175,14 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
 libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
+libero_plus = [
+    "lerobot[transformers-dep]",
+    "libero @ git+https://github.com/sylvestf/LIBERO-plus.git@main ; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
+robomme = [
+    "robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main ; sys_platform == 'linux'",
+]
 metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
 
 # All

src/lerobot/configs/default.py

@@ -16,18 +16,13 @@
 
 from dataclasses import dataclass, field
 
-from lerobot.datasets.transforms import ImageTransformsConfig
+from lerobot.datasets.transforms import DatasetTransformStepConfig, ImageTransformsConfig
 from lerobot.datasets.video_utils import get_safe_default_codec
 
 
 @dataclass
 class DatasetConfig:
-    # You may provide a list of datasets here. `train.py` creates them all and concatenates them. Note: only data
-    # keys common between the datasets are kept. Each dataset gets and additional transform that inserts the
-    # "dataset_index" into the returned item. The index mapping is made according to the order in which the
-    # datasets are provided.
     repo_id: str
-    # Root directory where the dataset will be stored (e.g. 'dataset/path'). If None, defaults to $HF_LEROBOT_HOME/repo_id.
     root: str | None = None
     episodes: list[int] | None = None
     image_transforms: ImageTransformsConfig = field(default_factory=ImageTransformsConfig)
@@ -37,6 +32,32 @@ class DatasetConfig:
     streaming: bool = False
 
 
+@dataclass
+class SubDatasetConfig:
+    """Configuration for a single dataset within a MultiDatasetConfig."""
+
+    repo_id: str
+    root: str | None = None
+    episodes: list[int] | None = None
+    revision: str | None = None
+    video_backend: str = field(default_factory=get_safe_default_codec)
+    weight: float = 1.0
+    # Maps dataset-local feature keys to unified policy keys.
+    # Keys not listed pass through unchanged.
+    feature_map: dict[str, str] = field(default_factory=dict)
+    # Per-dataset transforms applied after feature renaming, before cross-dataset padding.
+    transforms: list[DatasetTransformStepConfig] | None = None
+
+
+@dataclass
+class MultiDatasetConfig:
+    """Configuration for training on multiple datasets jointly."""
+
+    datasets: list[SubDatasetConfig] = field(default_factory=list)
+    image_transforms: ImageTransformsConfig = field(default_factory=ImageTransformsConfig)
+    use_imagenet_stats: bool = True
+
+
 @dataclass
 class WandBConfig:
     enable: bool = False

src/lerobot/configs/train.py

@@ -24,7 +24,7 @@ from huggingface_hub.errors import HfHubHTTPError
 
 from lerobot import envs
 from lerobot.configs import parser
-from lerobot.configs.default import DatasetConfig, EvalConfig, PeftConfig, WandBConfig
+from lerobot.configs.default import DatasetConfig, EvalConfig, MultiDatasetConfig, PeftConfig, WandBConfig
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.optim import OptimizerConfig
 from lerobot.optim.schedulers import LRSchedulerConfig
@@ -35,7 +35,7 @@ TRAIN_CONFIG_NAME = "train_config.json"
 
 @dataclass
 class TrainPipelineConfig(HubMixin):
-    dataset: DatasetConfig
+    dataset: DatasetConfig | MultiDatasetConfig
     env: envs.EnvConfig | None = None
     policy: PreTrainedConfig | None = None
     # Set `dir` to where you would like to save all of the run outputs. If you run another training session
@@ -129,8 +129,9 @@ class TrainPipelineConfig(HubMixin):
             train_dir = f"{now:%Y-%m-%d}/{now:%H-%M-%S}_{self.job_name}"
             self.output_dir = Path("outputs/train") / train_dir
 
-        if isinstance(self.dataset.repo_id, list):
-            raise NotImplementedError("LeRobotMultiDataset is not currently implemented.")
+        if isinstance(self.dataset, MultiDatasetConfig):
+            if len(self.dataset.datasets) < 1:
+                raise ValueError("MultiDatasetConfig.datasets must contain at least one sub-dataset.")
 
         if not self.use_policy_training_preset and (self.optimizer is None or self.scheduler is None):
             raise ValueError("Optimizer and Scheduler must be set when the policy presets are not used.")
@@ -143,8 +144,7 @@ class TrainPipelineConfig(HubMixin):
                 "'policy.repo_id' argument missing. Please specify it to push the model to the hub."
             )
 
-        if self.use_rabc and not self.rabc_progress_path:
-            # Auto-detect from dataset path
+        if self.use_rabc and not self.rabc_progress_path and isinstance(self.dataset, DatasetConfig):
             repo_id = self.dataset.repo_id
             if self.dataset.root:
                 self.rabc_progress_path = str(Path(self.dataset.root) / "sarm_progress.parquet")

src/lerobot/datasets/factory.py

@@ -18,13 +18,14 @@ from pprint import pformat
 
 import torch
 
+from lerobot.configs.default import DatasetConfig, MultiDatasetConfig
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.datasets.lerobot_dataset import (
     LeRobotDataset,
     LeRobotDatasetMetadata,
-    MultiLeRobotDataset,
 )
+from lerobot.datasets.multi_dataset import NewMultiLeRobotDataset
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.datasets.transforms import ImageTransforms
 from lerobot.utils.constants import ACTION, OBS_PREFIX, REWARD
@@ -68,66 +69,81 @@ def resolve_delta_timestamps(
     return delta_timestamps
 
 
-def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDataset:
-    """Handles the logic of setting up delta timestamps and image transforms before creating a dataset.
-
-    Args:
-        cfg (TrainPipelineConfig): A TrainPipelineConfig config which contains a DatasetConfig and a PreTrainedConfig.
-
-    Raises:
-        NotImplementedError: The MultiLeRobotDataset is currently deactivated.
+def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | NewMultiLeRobotDataset:
+    """Create a single or multi-dataset depending on the config type.
 
     Returns:
-        LeRobotDataset | MultiLeRobotDataset
+        LeRobotDataset | NewMultiLeRobotDataset
     """
+    if isinstance(cfg.dataset, MultiDatasetConfig):
+        return _make_multi_dataset(cfg)
+
+    return _make_single_dataset(cfg)
+
+
+def _make_single_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset:
+    ds_cfg: DatasetConfig = cfg.dataset  # type: ignore[assignment]
     image_transforms = (
-        ImageTransforms(cfg.dataset.image_transforms) if cfg.dataset.image_transforms.enable else None
+        ImageTransforms(ds_cfg.image_transforms) if ds_cfg.image_transforms.enable else None
     )
+    ds_meta = LeRobotDatasetMetadata(ds_cfg.repo_id, root=ds_cfg.root, revision=ds_cfg.revision)
+    delta_timestamps = resolve_delta_timestamps(cfg.policy, ds_meta)
 
-    if isinstance(cfg.dataset.repo_id, str):
-        ds_meta = LeRobotDatasetMetadata(
-            cfg.dataset.repo_id, root=cfg.dataset.root, revision=cfg.dataset.revision
-        )
-        delta_timestamps = resolve_delta_timestamps(cfg.policy, ds_meta)
-        if not cfg.dataset.streaming:
-            dataset = LeRobotDataset(
-                cfg.dataset.repo_id,
-                root=cfg.dataset.root,
-                episodes=cfg.dataset.episodes,
-                delta_timestamps=delta_timestamps,
-                image_transforms=image_transforms,
-                revision=cfg.dataset.revision,
-                video_backend=cfg.dataset.video_backend,
-                tolerance_s=cfg.tolerance_s,
-            )
-        else:
-            dataset = StreamingLeRobotDataset(
-                cfg.dataset.repo_id,
-                root=cfg.dataset.root,
-                episodes=cfg.dataset.episodes,
-                delta_timestamps=delta_timestamps,
-                image_transforms=image_transforms,
-                revision=cfg.dataset.revision,
-                max_num_shards=cfg.num_workers,
-                tolerance_s=cfg.tolerance_s,
-            )
-    else:
-        raise NotImplementedError("The MultiLeRobotDataset isn't supported for now.")
-        dataset = MultiLeRobotDataset(
-            cfg.dataset.repo_id,
-            # TODO(aliberts): add proper support for multi dataset
-            # delta_timestamps=delta_timestamps,
+    if not ds_cfg.streaming:
+        dataset = LeRobotDataset(
+            ds_cfg.repo_id,
+            root=ds_cfg.root,
+            episodes=ds_cfg.episodes,
+            delta_timestamps=delta_timestamps,
             image_transforms=image_transforms,
-            video_backend=cfg.dataset.video_backend,
+            revision=ds_cfg.revision,
+            video_backend=ds_cfg.video_backend,
+            tolerance_s=cfg.tolerance_s,
         )
-        logging.info(
-            "Multiple datasets were provided. Applied the following index mapping to the provided datasets: "
-            f"{pformat(dataset.repo_id_to_index, indent=2)}"
+    else:
+        dataset = StreamingLeRobotDataset(
+            ds_cfg.repo_id,
+            root=ds_cfg.root,
+            episodes=ds_cfg.episodes,
+            delta_timestamps=delta_timestamps,
+            image_transforms=image_transforms,
+            revision=ds_cfg.revision,
+            max_num_shards=cfg.num_workers,
+            tolerance_s=cfg.tolerance_s,
         )
 
-    if cfg.dataset.use_imagenet_stats:
+    if ds_cfg.use_imagenet_stats:
         for key in dataset.meta.camera_keys:
-            for stats_type, stats in IMAGENET_STATS.items():
-                dataset.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
+            for stats_type, stats_val in IMAGENET_STATS.items():
+                dataset.meta.stats[key][stats_type] = torch.tensor(stats_val, dtype=torch.float32)
+
+    return dataset
+
+
+def _make_multi_dataset(cfg: TrainPipelineConfig) -> NewMultiLeRobotDataset:
+    multi_cfg: MultiDatasetConfig = cfg.dataset  # type: ignore[assignment]
+    image_transforms = (
+        ImageTransforms(multi_cfg.image_transforms) if multi_cfg.image_transforms.enable else None
+    )
+
+    dataset = NewMultiLeRobotDataset(
+        configs=multi_cfg.datasets,
+        image_transforms=image_transforms,
+        tolerance_s=cfg.tolerance_s,
+    )
+
+    logging.info(
+        "MultiLeRobotDataset created with %d sub-datasets:\n%s",
+        len(multi_cfg.datasets),
+        pformat(
+            {i: c.repo_id for i, c in enumerate(multi_cfg.datasets)},
+            indent=2,
+        ),
+    )
+
+    if multi_cfg.use_imagenet_stats:
+        for key in dataset.meta.camera_keys:
+            for stats_type, stats_val in IMAGENET_STATS.items():
+                dataset.meta.stats[key][stats_type] = torch.tensor(stats_val, dtype=torch.float32)
 
     return dataset

src/lerobot/datasets/multi_dataset.py

@@ -0,0 +1,364 @@
+"""MultiLeRobotDataset: joint training over heterogeneous LeRobot datasets.
+
+Supports:
+- Per-dataset feature mapping (rename keys to a unified namespace)
+- Automatic zero-padding for features missing in some datasets
+- Per-dataset transform pipelines
+- Weighted sampling via dataset weights
+- Aggregated stats across all sub-datasets
+- A ``meta`` shim compatible with EpisodeAwareSampler and make_policy
+"""
+
+from __future__ import annotations
+
+import logging
+from collections.abc import Callable
+
+import numpy as np
+import torch
+import torch.utils.data
+
+from lerobot.configs.default import SubDatasetConfig
+from lerobot.datasets.compute_stats import aggregate_stats
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.transforms import DatasetTransformPipeline
+
+
+class MultiDatasetMeta:
+    """Lightweight metadata shim that exposes the same interface as ``LeRobotDatasetMetadata``.
+
+    Built by aggregating the metadata of multiple sub-datasets after their
+    feature keys have been mapped to a unified namespace.
+    """
+
+    def __init__(
+        self,
+        datasets: list[LeRobotDataset],
+        feature_maps: list[dict[str, str]],
+    ):
+        self._datasets = datasets
+        self._feature_maps = feature_maps
+
+        self._unified_features = self._build_unified_features()
+        self._episodes = self._build_episodes()
+        self._stats = self._build_stats()
+
+    # ------------------------------------------------------------------
+    # Feature union
+    # ------------------------------------------------------------------
+
+    def _build_unified_features(self) -> dict[str, dict]:
+        """Build feature dict as the *union* of all mapped feature keys."""
+        unified: dict[str, dict] = {}
+        for ds, fmap in zip(self._datasets, self._feature_maps):
+            for original_key, feat_info in ds.meta.features.items():
+                mapped_key = fmap.get(original_key, original_key)
+                if mapped_key not in unified:
+                    unified[mapped_key] = dict(feat_info)
+                else:
+                    existing_shape = tuple(unified[mapped_key]["shape"])
+                    new_shape = tuple(feat_info["shape"])
+                    if existing_shape != new_shape and unified[mapped_key]["dtype"] == feat_info["dtype"]:
+                        logging.warning(
+                            "Feature '%s' has shape %s in one dataset but %s in another. "
+                            "The larger shape will be used (padding applied automatically).",
+                            mapped_key,
+                            existing_shape,
+                            new_shape,
+                        )
+                        if np.prod(new_shape) > np.prod(existing_shape):
+                            unified[mapped_key] = dict(feat_info)
+        return unified
+
+    # ------------------------------------------------------------------
+    # Episode metadata (global flat indexing)
+    # ------------------------------------------------------------------
+
+    def _build_episodes(self) -> dict[str, list]:
+        """Concatenate episode boundaries across sub-datasets with frame offsets.
+
+        Produces the same column structure as ``load_episodes()`` so that
+        ``EpisodeAwareSampler`` and ``WeightedEpisodeAwareSampler`` can consume it.
+        """
+        from_indices: list[int] = []
+        to_indices: list[int] = []
+        dataset_source: list[int] = []
+
+        frame_offset = 0
+        for ds_idx, ds in enumerate(self._datasets):
+            eps = ds.meta.episodes
+            for ep in eps:
+                from_indices.append(ep["dataset_from_index"] + frame_offset)
+                to_indices.append(ep["dataset_to_index"] + frame_offset)
+                dataset_source.append(ds_idx)
+            frame_offset += ds.num_frames
+
+        return {
+            "dataset_from_index": from_indices,
+            "dataset_to_index": to_indices,
+            "dataset_source": dataset_source,
+        }
+
+    # ------------------------------------------------------------------
+    # Stats aggregation
+    # ------------------------------------------------------------------
+
+    def _build_stats(self) -> dict[str, dict[str, np.ndarray]]:
+        """Aggregate stats across sub-datasets using mapped feature keys."""
+        mapped_stats_list: list[dict[str, dict]] = []
+        for ds, fmap in zip(self._datasets, self._feature_maps):
+            reverse_map = {v: k for k, v in fmap.items()}
+            mapped: dict[str, dict] = {}
+            for unified_key in self._unified_features:
+                original_key = reverse_map.get(unified_key, unified_key)
+                if original_key in ds.meta.stats:
+                    mapped[unified_key] = ds.meta.stats[original_key]
+            mapped_stats_list.append(mapped)
+
+        return aggregate_stats(mapped_stats_list)
+
+    # ------------------------------------------------------------------
+    # Properties matching LeRobotDatasetMetadata API
+    # ------------------------------------------------------------------
+
+    @property
+    def features(self) -> dict[str, dict]:
+        return self._unified_features
+
+    @property
+    def image_keys(self) -> list[str]:
+        return [k for k, f in self._unified_features.items() if f["dtype"] == "image"]
+
+    @property
+    def video_keys(self) -> list[str]:
+        return [k for k, f in self._unified_features.items() if f["dtype"] == "video"]
+
+    @property
+    def camera_keys(self) -> list[str]:
+        return [k for k, f in self._unified_features.items() if f["dtype"] in ("video", "image")]
+
+    @property
+    def names(self) -> dict[str, list | dict]:
+        return {k: f["names"] for k, f in self._unified_features.items()}
+
+    @property
+    def shapes(self) -> dict[str, tuple]:
+        return {k: tuple(f["shape"]) for k, f in self._unified_features.items()}
+
+    @property
+    def fps(self) -> int:
+        fps_values = {ds.meta.fps for ds in self._datasets}
+        if len(fps_values) > 1:
+            logging.warning("Sub-datasets have different FPS values: %s. Using the first.", fps_values)
+        return self._datasets[0].meta.fps
+
+    @property
+    def stats(self) -> dict[str, dict[str, np.ndarray]]:
+        return self._stats
+
+    @stats.setter
+    def stats(self, value: dict):
+        self._stats = value
+
+    @property
+    def episodes(self) -> dict[str, list]:
+        return self._episodes
+
+    @property
+    def total_episodes(self) -> int:
+        return sum(ds.meta.total_episodes for ds in self._datasets)
+
+    @property
+    def total_frames(self) -> int:
+        return sum(ds.meta.total_frames for ds in self._datasets)
+
+    @property
+    def total_tasks(self) -> int:
+        return sum(ds.meta.total_tasks for ds in self._datasets)
+
+    @property
+    def info(self) -> dict:
+        return {
+            "fps": self.fps,
+            "features": self._unified_features,
+            "total_episodes": self.total_episodes,
+            "total_frames": self.total_frames,
+            "total_tasks": self.total_tasks,
+            "codebase_version": "v3.0",
+        }
+
+
+class NewMultiLeRobotDataset(torch.utils.data.Dataset):
+    """Dataset that wraps multiple ``LeRobotDataset`` instances with feature mapping and padding.
+
+    Each sub-dataset can have different feature names and shapes.  A per-dataset
+    ``feature_map`` renames keys into a shared namespace.  Features that a given
+    sub-dataset does not provide are zero-padded so every ``__getitem__`` returns
+    the full unified feature set.
+    """
+
+    def __init__(
+        self,
+        configs: list[SubDatasetConfig],
+        image_transforms: Callable | None = None,
+        delta_timestamps: dict[str, list[float]] | None = None,
+        tolerance_s: float = 1e-4,
+    ):
+        super().__init__()
+        self._configs = configs
+        self.image_transforms = image_transforms
+
+        self._datasets: list[LeRobotDataset] = []
+        self._feature_maps: list[dict[str, str]] = []
+        self._transform_pipelines: list[DatasetTransformPipeline | None] = []
+        self._weights: list[float] = []
+
+        for cfg in configs:
+            ds = LeRobotDataset(
+                repo_id=cfg.repo_id,
+                root=cfg.root,
+                episodes=cfg.episodes,
+                image_transforms=image_transforms,
+                delta_timestamps=delta_timestamps,
+                tolerance_s=tolerance_s,
+                revision=cfg.revision,
+                video_backend=cfg.video_backend,
+            )
+            self._datasets.append(ds)
+            self._feature_maps.append(cfg.feature_map or {})
+            self._transform_pipelines.append(
+                DatasetTransformPipeline(cfg.transforms) if cfg.transforms else None
+            )
+            self._weights.append(cfg.weight)
+
+        self._meta = MultiDatasetMeta(self._datasets, self._feature_maps)
+
+        # Pre-compute cumulative frame counts for fast index mapping.
+        self._cumulative_frames: list[int] = []
+        total = 0
+        for ds in self._datasets:
+            total += ds.num_frames
+            self._cumulative_frames.append(total)
+
+        # Build reverse maps (unified_key -> original_key) per dataset for padding.
+        self._reverse_maps: list[dict[str, str]] = []
+        for fmap in self._feature_maps:
+            self._reverse_maps.append({v: k for k, v in fmap.items()})
+
+        logging.info(
+            "MultiLeRobotDataset: %d sub-datasets, %d total frames, %d total episodes, "
+            "%d unified features",
+            len(self._datasets),
+            self.num_frames,
+            self.num_episodes,
+            len(self._meta.features),
+        )
+
+    # ------------------------------------------------------------------
+    # Public interface
+    # ------------------------------------------------------------------
+
+    @property
+    def meta(self) -> MultiDatasetMeta:
+        return self._meta
+
+    @property
+    def dataset_weights(self) -> list[float]:
+        return self._weights
+
+    @property
+    def num_frames(self) -> int:
+        return self._cumulative_frames[-1] if self._cumulative_frames else 0
+
+    @property
+    def num_episodes(self) -> int:
+        return sum(ds.num_episodes for ds in self._datasets)
+
+    @property
+    def episodes(self) -> list[int] | None:
+        return None
+
+    @property
+    def fps(self) -> int:
+        return self._meta.fps
+
+    @property
+    def features(self) -> dict[str, dict]:
+        return self._meta.features
+
+    @property
+    def camera_keys(self) -> list[str]:
+        return self._meta.camera_keys
+
+    # ------------------------------------------------------------------
+    # Indexing
+    # ------------------------------------------------------------------
+
+    def _locate(self, idx: int) -> tuple[int, int]:
+        """Map a global frame index to (dataset_index, local_index)."""
+        for ds_idx, cum in enumerate(self._cumulative_frames):
+            if idx < cum:
+                local = idx - (self._cumulative_frames[ds_idx - 1] if ds_idx > 0 else 0)
+                return ds_idx, local
+        raise IndexError(f"Index {idx} out of range (total {self.num_frames})")
+
+    def __len__(self) -> int:
+        return self.num_frames
+
+    def __getitem__(self, idx: int) -> dict[str, torch.Tensor]:
+        ds_idx, local_idx = self._locate(idx)
+        item = self._datasets[ds_idx][local_idx]
+
+        # 1. Rename keys according to feature_map.
+        fmap = self._feature_maps[ds_idx]
+        if fmap:
+            renamed: dict[str, torch.Tensor] = {}
+            for key, value in item.items():
+                renamed[fmap.get(key, key)] = value
+            item = renamed
+
+        # 2. Apply per-dataset transform pipeline.
+        pipeline = self._transform_pipelines[ds_idx]
+        if pipeline is not None:
+            item = pipeline(item)
+
+        # 3. Pad missing features with zeros.
+        reverse_map = self._reverse_maps[ds_idx]
+        ds_features = self._datasets[ds_idx].meta.features
+        for unified_key, feat_info in self._meta.features.items():
+            if unified_key in item:
+                continue
+            original_key = reverse_map.get(unified_key, unified_key)
+            if original_key in ds_features:
+                continue
+            shape = tuple(feat_info["shape"])
+            dtype = feat_info["dtype"]
+            if dtype in ("video", "image"):
+                # Camera tensors are (C, H, W) after transforms.
+                c, h, w = (shape[2], shape[0], shape[1]) if len(shape) == 3 else (3, shape[0], shape[1])
+                item[unified_key] = torch.zeros(c, h, w, dtype=torch.float32)
+            elif dtype in ("float32", "float64"):
+                item[unified_key] = torch.zeros(shape, dtype=torch.float32)
+            elif dtype in ("int32", "int64"):
+                item[unified_key] = torch.zeros(shape, dtype=torch.int64)
+            elif dtype == "bool":
+                item[unified_key] = torch.zeros(shape, dtype=torch.bool)
+            else:
+                item[unified_key] = torch.zeros(shape, dtype=torch.float32)
+            item[f"{unified_key}_is_pad"] = torch.tensor(True)
+
+        # 4. Tag which dataset this sample came from.
+        item["dataset_index"] = torch.tensor(ds_idx)
+        return item
+
+    def __repr__(self) -> str:
+        repo_ids = [c.repo_id for c in self._configs]
+        return (
+            f"NewMultiLeRobotDataset(\n"
+            f"  repo_ids={repo_ids},\n"
+            f"  num_frames={self.num_frames},\n"
+            f"  num_episodes={self.num_episodes},\n"
+            f"  unified_features={list(self._meta.features.keys())},\n"
+            f"  weights={self._weights},\n"
+            f")"
+        )

src/lerobot/datasets/sampler.py

@@ -59,3 +59,80 @@ class EpisodeAwareSampler:
 
     def __len__(self) -> int:
         return len(self.indices)
+
+
+class WeightedEpisodeAwareSampler:
+    """Sampler that draws frames from multiple datasets according to per-dataset weights.
+
+    Each iteration first selects a sub-dataset proportionally to its weight, then
+    uniformly samples a frame from that sub-dataset's valid index set.  Episode
+    boundary information is respected so that dropped frames are excluded.
+
+    Args:
+        dataset_from_indices: Start index for each episode (global, flat).
+        dataset_to_indices: End index (exclusive) for each episode (global, flat).
+        dataset_membership: Which sub-dataset each episode belongs to (integer id).
+        dataset_weights: Relative sampling weight per sub-dataset.
+        episode_indices_to_use: If given, only episodes in this set are used.
+        drop_n_first_frames: Frames to skip at the start of each episode.
+        drop_n_last_frames: Frames to skip at the end of each episode.
+        shuffle: Whether to shuffle within each epoch.
+        num_samples: How many samples per epoch. Defaults to total valid frames.
+        generator: Optional torch.Generator for reproducibility.
+    """
+
+    def __init__(
+        self,
+        dataset_from_indices: list[int],
+        dataset_to_indices: list[int],
+        dataset_membership: list[int],
+        dataset_weights: list[float],
+        episode_indices_to_use: list | None = None,
+        drop_n_first_frames: int = 0,
+        drop_n_last_frames: int = 0,
+        shuffle: bool = False,
+        num_samples: int | None = None,
+        generator: torch.Generator | None = None,
+    ):
+        n_datasets = max(dataset_membership) + 1 if dataset_membership else 0
+        self._per_dataset_indices: list[list[int]] = [[] for _ in range(n_datasets)]
+
+        episodes_to_use = set(episode_indices_to_use) if episode_indices_to_use is not None else None
+
+        for ep_idx, (start, end, ds_id) in enumerate(
+            zip(dataset_from_indices, dataset_to_indices, dataset_membership, strict=True)
+        ):
+            if episodes_to_use is not None and ep_idx not in episodes_to_use:
+                continue
+            frame_range = range(start + drop_n_first_frames, end - drop_n_last_frames)
+            self._per_dataset_indices[ds_id].extend(frame_range)
+
+        # Normalise weights (only over datasets that actually have frames).
+        raw_weights = list(dataset_weights[:n_datasets])
+        self._weights = torch.zeros(n_datasets)
+        for i, w in enumerate(raw_weights):
+            if len(self._per_dataset_indices[i]) > 0:
+                self._weights[i] = w
+        total_w = self._weights.sum()
+        if total_w > 0:
+            self._weights /= total_w
+
+        self._total_frames = sum(len(idx) for idx in self._per_dataset_indices)
+        self._num_samples = num_samples if num_samples is not None else self._total_frames
+        self.shuffle = shuffle
+        self._generator = generator
+
+    def __iter__(self) -> Iterator[int]:
+        if not self.shuffle:
+            for ds_indices in self._per_dataset_indices:
+                yield from ds_indices
+            return
+
+        for _ in range(self._num_samples):
+            ds_id = int(torch.multinomial(self._weights, 1, generator=self._generator).item())
+            indices = self._per_dataset_indices[ds_id]
+            local_idx = int(torch.randint(len(indices), (1,), generator=self._generator).item())
+            yield indices[local_idx]
+
+    def __len__(self) -> int:
+        return self._num_samples

src/lerobot/datasets/transforms.py

@@ -14,11 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import collections
+import logging
 from collections.abc import Callable, Sequence
 from dataclasses import dataclass, field
 from typing import Any
 
 import torch
+import torch.nn.functional as F_nn
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import (
     Transform,
@@ -258,3 +260,114 @@ class ImageTransforms(Transform):
 
     def forward(self, *inputs: Any) -> Any:
         return self.tf(*inputs)
+
+
+
+# Per-dataset transform pipeline (used by MultiLeRobotDataset)
+
+@dataclass
+class DatasetTransformStepConfig:
+    """Config for a single per-dataset transform step."""
+
+    type: str
+    kwargs: dict[str, Any] = field(default_factory=dict)
+
+
+_DATASET_TRANSFORM_REGISTRY: dict[str, type["DatasetTransformStep"]] = {}
+
+
+def register_dataset_transform(name: str):
+    """Decorator to register a DatasetTransformStep by name."""
+
+    def decorator(cls: type["DatasetTransformStep"]) -> type["DatasetTransformStep"]:
+        _DATASET_TRANSFORM_REGISTRY[name] = cls
+        return cls
+
+    return decorator
+
+
+class DatasetTransformStep:
+    """Base class for a single per-dataset transform applied to a sample dict."""
+
+    def __call__(self, sample: dict) -> dict:
+        raise NotImplementedError
+
+
+@register_dataset_transform("pad_action")
+class PadAction(DatasetTransformStep):
+    """Zero-pad the ``action`` tensor to *target_dim* along the last axis."""
+
+    def __init__(self, target_dim: int):
+        self.target_dim = target_dim
+
+    def __call__(self, sample: dict) -> dict:
+        action = sample.get("action")
+        if action is None:
+            return sample
+        current = action.shape[-1]
+        if current < self.target_dim:
+            sample["action"] = F_nn.pad(action, (0, self.target_dim - current))
+        return sample
+
+
+@register_dataset_transform("pad_state")
+class PadState(DatasetTransformStep):
+    """Zero-pad ``observation.state`` to *target_dim* along the last axis."""
+
+    def __init__(self, target_dim: int):
+        self.target_dim = target_dim
+
+    def __call__(self, sample: dict) -> dict:
+        state = sample.get("observation.state")
+        if state is None:
+            return sample
+        current = state.shape[-1]
+        if current < self.target_dim:
+            sample["observation.state"] = F_nn.pad(state, (0, self.target_dim - current))
+        return sample
+
+
+@register_dataset_transform("resize_images")
+class ResizeImages(DatasetTransformStep):
+    """Resize all image/video camera tensors to (height, width)."""
+
+    def __init__(self, height: int, width: int):
+        self.size = (height, width)
+
+    def __call__(self, sample: dict) -> dict:
+        for key in list(sample.keys()):
+            if not key.startswith("observation.images."):
+                continue
+            img = sample[key]
+            if not isinstance(img, torch.Tensor) or img.ndim < 3:
+                continue
+            sample[key] = F.resize(img, self.size, antialias=True)
+        return sample
+
+
+class DatasetTransformPipeline:
+    """Sequential pipeline of DatasetTransformStep instances."""
+
+    def __init__(self, configs: list[DatasetTransformStepConfig] | None = None):
+        self.steps: list[DatasetTransformStep] = []
+        if configs:
+            for cfg in configs:
+                self.steps.append(self._build(cfg))
+
+    @staticmethod
+    def _build(cfg: DatasetTransformStepConfig) -> DatasetTransformStep:
+        cls = _DATASET_TRANSFORM_REGISTRY.get(cfg.type)
+        if cls is None:
+            raise ValueError(
+                f"Unknown dataset transform '{cfg.type}'. "
+                f"Available: {list(_DATASET_TRANSFORM_REGISTRY)}"
+            )
+        return cls(**cfg.kwargs)
+
+    def __call__(self, sample: dict) -> dict:
+        for step in self.steps:
+            sample = step(sample)
+        return sample
+
+    def __repr__(self) -> str:
+        return f"DatasetTransformPipeline(steps={self.steps})"

src/lerobot/envs/configs.py

@@ -346,6 +346,105 @@ class LiberoEnv(EnvConfig):
         return kwargs
 
 
+@EnvConfig.register_subclass("libero_plus")
+@dataclass
+class LiberoPlusEnv(LiberoEnv):
+    """Alias config for LIBERO-plus benchmarks.
+
+    LIBERO-plus keeps the same Python package/module names as LIBERO, so this
+    config reuses the existing LIBERO env implementation while making intent explicit
+    in experiment configs (`env.type=libero_plus`).
+    """
+
+    task: str = "libero_spatial"
+
+
+@EnvConfig.register_subclass("robocasa")
+@dataclass
+class RoboCasaEnv(EnvConfig):
+    """RoboCasa kitchen composite-task environments.
+
+    Wraps ``robocasa.wrappers.gym_wrapper.RoboCasaGymEnv`` with a flat 12-D Box
+    action space and a structured pixel + state observation dict.
+
+    Selected benchmark tasks (3 short + 2 long):
+        Short:  PickPlaceCounterToCabinet, PrepareToast, CoffeeSetupMug
+        Long:   PrepareCoffee, RestockPantry
+    """
+
+    task: str = "PickPlaceCounterToCabinet"
+    tasks: list[str] | None = None  # multi-task: list of task names (without robocasa/ prefix)
+    fps: int = 20
+    episode_length: int = 500
+    image_size: int = 128
+    split: str = "target"  # "pretrain" or "target"
+    features: dict[str, PolicyFeature] = field(
+        default_factory=lambda: {
+            ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(12,)),
+        }
+    )
+    features_map: dict[str, str] = field(
+        default_factory=lambda: {
+            ACTION: ACTION,
+            "agentview_left":  f"{OBS_IMAGES}.agentview_left",
+            "agentview_right": f"{OBS_IMAGES}.agentview_right",
+            "eye_in_hand":     f"{OBS_IMAGES}.eye_in_hand",
+            "robot_state":     OBS_STATE,
+        }
+    )
+
+    def __post_init__(self):
+        for cam in ("agentview_left", "agentview_right", "eye_in_hand"):
+            self.features[cam] = PolicyFeature(
+                type=FeatureType.VISUAL, shape=(self.image_size, self.image_size, 3)
+            )
+        self.features["robot_state"] = PolicyFeature(type=FeatureType.STATE, shape=(16,))
+
+    @property
+    def gym_kwargs(self) -> dict:
+        return {"split": self.split}
+
+
+@EnvConfig.register_subclass("robomme")
+@dataclass
+class RoboMMEEnv(EnvConfig):
+    """RoboMME memory-augmented manipulation benchmark (ManiSkill/SAPIEN).
+
+    16 tasks across 4 suites: Counting, Permanence, Reference, Imitation.
+    Uses BenchmarkEnvBuilder from the robomme package.
+    """
+
+    task: str = "PickXtimes"
+    fps: int = 10
+    episode_length: int = 300
+    action_space: str = "joint_angle"
+    dataset_split: str = "test"
+    task_ids: list[int] | None = None
+    features: dict[str, PolicyFeature] = field(
+        default_factory=lambda: {
+            ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(8,)),
+            "front_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(256, 256, 3)),
+            "wrist_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(256, 256, 3)),
+            OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(8,)),
+        }
+    )
+    features_map: dict[str, str] = field(
+        default_factory=lambda: {
+            ACTION: ACTION,
+            "front_rgb": f"{OBS_IMAGES}.front",
+            "wrist_rgb": f"{OBS_IMAGES}.wrist",
+            OBS_STATE: OBS_STATE,
+        }
+    )
+
+    @property
+    def gym_kwargs(self) -> dict:
+        return {
+            "action_space": self.action_space,
+            "dataset": self.dataset_split,
+        }
+
+
 @EnvConfig.register_subclass("metaworld")
 @dataclass
 class MetaworldEnv(EnvConfig):

src/lerobot/envs/factory.py

@@ -20,11 +20,21 @@ import gymnasium as gym
 from gymnasium.envs.registration import registry as gym_registry
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.envs.configs import AlohaEnv, EnvConfig, HubEnvConfig, IsaaclabArenaEnv, LiberoEnv, PushtEnv
+from lerobot.envs.configs import (
+    AlohaEnv,
+    EnvConfig,
+    HubEnvConfig,
+    IsaaclabArenaEnv,
+    LiberoEnv,
+    LiberoPlusEnv,
+    PushtEnv,
+    RoboCasaEnv,
+    RoboMMEEnv,
+)
 from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
 from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.processor import ProcessorStep
-from lerobot.processor.env_processor import IsaaclabArenaProcessorStep, LiberoProcessorStep
+from lerobot.processor.env_processor import IsaaclabArenaProcessorStep, LiberoProcessorStep, RoboCasaProcessorStep
 from lerobot.processor.pipeline import PolicyProcessorPipeline
 
 
@@ -35,6 +45,12 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
         return PushtEnv(**kwargs)
     elif env_type == "libero":
         return LiberoEnv(**kwargs)
+    elif env_type == "libero_plus":
+        return LiberoPlusEnv(**kwargs)
+    elif env_type == "robocasa":
+        return RoboCasaEnv(**kwargs)
+    elif env_type == "robomme":
+        return RoboMMEEnv(**kwargs)
     else:
         raise ValueError(f"Policy type '{env_type}' is not available.")
 
@@ -70,9 +86,13 @@ def make_env_pre_post_processors(
         return make_xvla_libero_pre_post_processors()
 
     # For LIBERO environments, add the LiberoProcessorStep to preprocessor
-    if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
+    if isinstance(env_cfg, (LiberoEnv, LiberoPlusEnv)) or "libero" in env_cfg.type:
         preprocessor_steps.append(LiberoProcessorStep())
 
+    # For RoboCasa environments, add the RoboCasaProcessorStep to preprocessor
+    if isinstance(env_cfg, RoboCasaEnv) or "robocasa" in env_cfg.type:
+        preprocessor_steps.append(RoboCasaProcessorStep())
+
     # For Isaaclab Arena environments, add the IsaaclabArenaProcessorStep
     if isinstance(env_cfg, IsaaclabArenaEnv) or "isaaclab_arena" in env_cfg.type:
         # Parse comma-separated keys (handle None for state-based policies)
@@ -181,6 +201,33 @@ def make_env(
             control_mode=cfg.control_mode,
             episode_length=cfg.episode_length,
         )
+    elif "robocasa" in cfg.type:
+        from lerobot.envs.robocasa import create_robocasa_envs
+
+        tasks = cfg.tasks if cfg.tasks else [cfg.task]
+        return create_robocasa_envs(
+            tasks=tasks,
+            n_envs=n_envs,
+            image_size=cfg.image_size,
+            split=cfg.split,
+            episode_length=cfg.episode_length,
+            gym_kwargs=cfg.gym_kwargs,
+            env_cls=env_cls,
+        )
+
+    elif "robomme" in cfg.type:
+        from lerobot.envs.robomme import create_robomme_envs
+
+        return create_robomme_envs(
+            task=cfg.task,
+            n_envs=n_envs,
+            action_space_type=cfg.action_space,
+            dataset=cfg.dataset_split,
+            episode_length=cfg.episode_length,
+            task_ids=cfg.task_ids,
+            env_cls=env_cls,
+        )
+
     elif "metaworld" in cfg.type:
         from lerobot.envs.metaworld import create_metaworld_envs
 

src/lerobot/envs/libero.py

@@ -26,8 +26,14 @@ import gymnasium as gym
 import numpy as np
 import torch
 from gymnasium import spaces
-from libero.libero import benchmark, get_libero_path
-from libero.libero.envs import OffScreenRenderEnv
+
+try:
+    from libero.libero import benchmark, get_libero_path
+    from libero.libero.envs import OffScreenRenderEnv
+except ImportError:
+    # LIBERO-plus may be installed from source with an extra nested package level.
+    from libero.libero.libero import benchmark, get_libero_path
+    from libero.libero.libero.envs import OffScreenRenderEnv
 
 from lerobot.processor import RobotObservation
 

src/lerobot/envs/robocasa.py

@@ -0,0 +1,273 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from __future__ import annotations
+
+from collections import defaultdict
+from collections.abc import Callable, Sequence
+from functools import partial
+from typing import Any
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+
+# Action layout (flat 12D, normalized to [-1, 1]):
+#   [0:3]   end_effector_position  (delta x, y, z)
+#   [3:6]   end_effector_rotation  (delta roll, pitch, yaw)
+#   [6:7]   gripper_close          (open=-1, close=+1)
+#   [7:11]  base_motion            (x, y, theta, torso_height)
+#   [11:12] control_mode           (arm=-1, base=+1)
+ACTION_DIM = 12
+ACTION_LOW = -1.0
+ACTION_HIGH = 1.0
+
+# Proprioceptive state layout (flat 16D):
+#   [0:2]   gripper_qpos
+#   [2:5]   base_position
+#   [5:9]   base_rotation (quaternion)
+#   [9:12]  end_effector_position_relative
+#   [12:16] end_effector_rotation_relative (quaternion)
+STATE_DIM = 16
+
+# Obs dict keys from RoboCasaGymEnv.get_observation()
+_CAM_KEYS = (
+    "video.robot0_agentview_left",
+    "video.robot0_agentview_right",
+    "video.robot0_eye_in_hand",
+)
+_STATE_KEYS_ORDERED = (
+    "state.gripper_qpos",           # (2,)
+    "state.base_position",          # (3,)
+    "state.base_rotation",          # (4,)
+    "state.end_effector_position_relative",   # (3,)
+    "state.end_effector_rotation_relative",   # (4,)
+)
+
+# Mapping from video.* key → short image name used in features_map
+CAM_KEY_TO_NAME = {
+    "video.robot0_agentview_left":  "agentview_left",
+    "video.robot0_agentview_right": "agentview_right",
+    "video.robot0_eye_in_hand":     "eye_in_hand",
+}
+
+
+def _flat_to_action_dict(flat: np.ndarray) -> dict[str, np.ndarray]:
+    """Convert a 12D flat action array to the Dict format expected by RoboCasaGymEnv."""
+    return {
+        "action.end_effector_position": flat[0:3],
+        "action.end_effector_rotation": flat[3:6],
+        "action.gripper_close":         flat[6:7],
+        "action.base_motion":           flat[7:11],
+        "action.control_mode":          flat[11:12],
+    }
+
+
+class RoboCasaEnv(gym.Env):
+    """Thin wrapper around RoboCasaGymEnv that provides a flat Box action space
+    and a structured observation dict compatible with LeRobot policies.
+
+    Observations returned by step/reset:
+        {
+            "pixels": {
+                "agentview_left":  (H, W, 3) uint8,
+                "agentview_right": (H, W, 3) uint8,
+                "eye_in_hand":     (H, W, 3) uint8,
+            },
+            "robot_state": (16,) float32,
+        }
+
+    Actions: flat float32 ndarray of shape (12,), normalized to [-1, 1].
+    """
+
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 20}
+
+    def __init__(
+        self,
+        task: str,
+        split: str = "target",
+        image_size: int = 128,
+        render_mode: str = "rgb_array",
+        episode_length: int = 500,
+        **gym_kwargs: Any,
+    ):
+        super().__init__()
+        # Lazy import — robocasa is optional
+        import robocasa.environments  # noqa: F401 — registers all gym envs
+
+        self.task = task
+        self.render_mode = render_mode
+        self.image_size = image_size
+        self._max_episode_steps = episode_length
+        self._step_count = 0
+
+        self._env = gym.make(
+            f"robocasa/{task}",
+            split=split,
+            camera_widths=image_size,
+            camera_heights=image_size,
+            **gym_kwargs,
+        )
+
+        # Flat 12D Box action space
+        self.action_space = spaces.Box(
+            low=ACTION_LOW,
+            high=ACTION_HIGH,
+            shape=(ACTION_DIM,),
+            dtype=np.float32,
+        )
+
+        images = {
+            name: spaces.Box(low=0, high=255, shape=(image_size, image_size, 3), dtype=np.uint8)
+            for name in CAM_KEY_TO_NAME.values()
+        }
+        self.observation_space = spaces.Dict(
+            {
+                "pixels": spaces.Dict(images),
+                "robot_state": spaces.Box(
+                    low=-np.inf, high=np.inf, shape=(STATE_DIM,), dtype=np.float32
+                ),
+            }
+        )
+
+    def _format_obs(self, raw_obs: dict) -> dict:
+        pixels = {
+            CAM_KEY_TO_NAME[k]: raw_obs[k]
+            for k in _CAM_KEYS
+            if k in raw_obs
+        }
+        state_parts = [
+            np.asarray(raw_obs[k], dtype=np.float32)
+            for k in _STATE_KEYS_ORDERED
+            if k in raw_obs
+        ]
+        robot_state = np.concatenate(state_parts) if state_parts else np.zeros(STATE_DIM, dtype=np.float32)
+        return {"pixels": pixels, "robot_state": robot_state}
+
+    def reset(self, seed: int | None = None, **kwargs) -> tuple[dict, dict]:
+        super().reset(seed=seed)
+        self._step_count = 0
+        raw_obs, info = self._env.reset(seed=seed)
+        info.setdefault("is_success", False)
+        info["task"] = self.task
+        return self._format_obs(raw_obs), info
+
+    def step(self, action: np.ndarray) -> tuple[dict, float, bool, bool, dict]:
+        if action.ndim != 1 or action.shape[0] != ACTION_DIM:
+            raise ValueError(
+                f"Expected 1-D action of shape ({ACTION_DIM},), got {action.shape}"
+            )
+        action_dict = _flat_to_action_dict(action)
+        raw_obs, reward, terminated, truncated, info = self._env.step(action_dict)
+        self._step_count += 1
+
+        is_success = bool(info.get("success", False))
+        terminated = terminated or is_success
+        if self._step_count >= self._max_episode_steps:
+            truncated = True
+
+        info.update({"task": self.task, "is_success": is_success})
+        obs = self._format_obs(raw_obs)
+
+        if terminated or truncated:
+            info["final_info"] = {"task": self.task, "is_success": is_success}
+
+        return obs, reward, terminated, truncated, info
+
+    def render(self) -> np.ndarray | None:
+        if self.render_mode == "rgb_array":
+            return self._env.render()
+        return None
+
+    def close(self) -> None:
+        self._env.close()
+
+
+def _make_env_fns(
+    *,
+    task: str,
+    n_envs: int,
+    image_size: int,
+    split: str,
+    episode_length: int,
+    gym_kwargs: dict[str, Any],
+) -> list[Callable[[], RoboCasaEnv]]:
+    """Build n_envs factory callables for a single task."""
+    def _make(episode_index: int) -> RoboCasaEnv:  # noqa: ARG001
+        return RoboCasaEnv(
+            task=task,
+            split=split,
+            image_size=image_size,
+            episode_length=episode_length,
+            **gym_kwargs,
+        )
+
+    return [partial(_make, i) for i in range(n_envs)]
+
+
+def create_robocasa_envs(
+    tasks: str | Sequence[str],
+    n_envs: int,
+    image_size: int = 128,
+    split: str = "target",
+    episode_length: int = 500,
+    gym_kwargs: dict[str, Any] | None = None,
+    env_cls: Callable[[Sequence[Callable[[], Any]]], Any] | None = None,
+) -> dict[str, dict[int, Any]]:
+    """Create vectorized RoboCasa environments.
+
+    Args:
+        tasks: A single task name or list of task names (without "robocasa/" prefix).
+            E.g. "PickPlaceCounterToCabinet" or ["BoilPot", "PrepareCoffee"].
+        n_envs: Number of parallel envs per task.
+        image_size: Square image resolution for all cameras.
+        split: RoboCasa dataset split — "pretrain" or "target".
+        episode_length: Max steps per episode before truncation.
+        gym_kwargs: Extra kwargs forwarded to each RoboCasaEnv.
+        env_cls: Callable to wrap list of factory fns (SyncVectorEnv or AsyncVectorEnv).
+
+    Returns:
+        dict[task_name][task_id=0] -> vec_env
+    """
+    if env_cls is None or not callable(env_cls):
+        raise ValueError("env_cls must be a callable wrapping a list of env factory callables.")
+    if not isinstance(n_envs, int) or n_envs <= 0:
+        raise ValueError(f"n_envs must be a positive int; got {n_envs}.")
+
+    if isinstance(tasks, str):
+        task_list = [t.strip() for t in tasks.split(",") if t.strip()]
+    else:
+        task_list = [str(t).strip() for t in tasks if str(t).strip()]
+    if not task_list:
+        raise ValueError("`tasks` must contain at least one task name.")
+
+    gym_kwargs = dict(gym_kwargs or {})
+    out: dict[str, dict[int, Any]] = defaultdict(dict)
+
+    print(f"Creating RoboCasa envs | tasks={task_list} | n_envs(per task)={n_envs} | split={split}")
+    for task in task_list:
+        fns = _make_env_fns(
+            task=task,
+            n_envs=n_envs,
+            image_size=image_size,
+            split=split,
+            episode_length=episode_length,
+            gym_kwargs=gym_kwargs,
+        )
+        out["robocasa"][len(out["robocasa"])] = env_cls(fns)
+        print(f"  Built vec env | task={task} | n_envs={n_envs}")
+
+    return {suite: dict(task_map) for suite, task_map in out.items()}

src/lerobot/envs/robomme.py

@@ -0,0 +1,154 @@
+"""RoboMME environment wrapper for LeRobot evaluation.
+
+Wraps the RoboMME ``BenchmarkEnvBuilder`` into a Gymnasium-compatible
+``VectorEnv`` suitable for ``lerobot_eval``.
+
+RoboMME tasks:
+  Counting:    BinFill, PickXtimes, SwingXtimes, StopCube
+  Permanence:  VideoUnmask, VideoUnmaskSwap, ButtonUnmask, ButtonUnmaskSwap
+  Reference:   PickHighlight, VideoRepick, VideoPlaceButton, VideoPlaceOrder
+  Imitation:   MoveCube, InsertPeg, PatternLock, RouteStick
+
+Install: pip install robomme  (or from source: https://github.com/RoboMME/robomme_benchmark)
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+ROBOMME_TASKS = [
+    "BinFill", "PickXtimes", "SwingXtimes", "StopCube",
+    "VideoUnmask", "VideoUnmaskSwap", "ButtonUnmask", "ButtonUnmaskSwap",
+    "PickHighlight", "VideoRepick", "VideoPlaceButton", "VideoPlaceOrder",
+    "MoveCube", "InsertPeg", "PatternLock", "RouteStick",
+]
+
+
+class RoboMMEGymEnv(gym.Env):
+    """Thin Gymnasium wrapper around a single RoboMME episode env."""
+
+    metadata = {"render_modes": ["rgb_array"]}
+
+    def __init__(
+        self,
+        task: str = "PickXtimes",
+        action_space_type: str = "joint_angle",
+        dataset: str = "test",
+        episode_idx: int = 0,
+        max_steps: int = 300,
+    ):
+        super().__init__()
+        from robomme.env_record_wrapper import BenchmarkEnvBuilder
+
+        self._task = task
+        self._action_space_type = action_space_type
+        self._dataset = dataset
+        self._episode_idx = episode_idx
+        self._max_steps = max_steps
+
+        self._builder = BenchmarkEnvBuilder(
+            env_id=task,
+            dataset=dataset,
+            action_space=action_space_type,
+            gui_render=False,
+            max_steps=max_steps,
+        )
+        self._env = None
+
+        action_dim = 8 if action_space_type == "joint_angle" else 7
+        self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(action_dim,), dtype=np.float32)
+        self.observation_space = spaces.Dict({
+            "front_rgb": spaces.Box(0, 255, shape=(256, 256, 3), dtype=np.uint8),
+            "wrist_rgb": spaces.Box(0, 255, shape=(256, 256, 3), dtype=np.uint8),
+            "state": spaces.Box(-np.inf, np.inf, shape=(8,), dtype=np.float32),
+        })
+
+    def reset(self, *, seed=None, options=None):
+        super().reset(seed=seed)
+        self._env = self._builder.make_env_for_episode(
+            episode_idx=self._episode_idx, max_steps=self._max_steps,
+        )
+        obs, info = self._env.reset()
+        return self._convert_obs(obs), self._convert_info(info)
+
+    def step(self, action):
+        obs, reward, terminated, truncated, info = self._env.step(action)
+
+        terminated_bool = bool(terminated.item()) if hasattr(terminated, "item") else bool(terminated)
+        truncated_bool = bool(truncated.item()) if hasattr(truncated, "item") else bool(truncated)
+
+        status = info.get("status", "ongoing")
+        is_success = status == "success"
+        conv_info = self._convert_info(info)
+        conv_info["is_success"] = is_success
+
+        return self._convert_obs(obs), float(reward), terminated_bool, truncated_bool, conv_info
+
+    def _convert_obs(self, obs: dict) -> dict:
+        front_rgb = obs["front_rgb_list"][-1] if isinstance(obs["front_rgb_list"], list) else obs["front_rgb_list"]
+        wrist_rgb = obs["wrist_rgb_list"][-1] if isinstance(obs["wrist_rgb_list"], list) else obs["wrist_rgb_list"]
+        joint_state = obs["joint_state_list"][-1] if isinstance(obs["joint_state_list"], list) else obs["joint_state_list"]
+        gripper_state = obs["gripper_state_list"][-1] if isinstance(obs["gripper_state_list"], list) else obs["gripper_state_list"]
+
+        front_rgb = np.asarray(front_rgb, dtype=np.uint8)
+        wrist_rgb = np.asarray(wrist_rgb, dtype=np.uint8)
+        joint = np.asarray(joint_state, dtype=np.float32).flatten()[:7]
+        gripper = np.asarray(gripper_state, dtype=np.float32).flatten()[:1]
+        state = np.concatenate([joint, gripper])
+
+        return {
+            "front_rgb": front_rgb,
+            "wrist_rgb": wrist_rgb,
+            "state": state,
+        }
+
+    def _convert_info(self, info: dict) -> dict:
+        return {
+            "status": info.get("status", "ongoing"),
+            "task_goal": info.get("task_goal", ""),
+        }
+
+
+def create_robomme_envs(
+    task: str,
+    n_envs: int = 1,
+    action_space_type: str = "joint_angle",
+    dataset: str = "test",
+    episode_length: int = 300,
+    task_ids: list[int] | None = None,
+    env_cls=None,
+) -> dict[str, dict[int, gym.vector.VectorEnv]]:
+    """Create vectorized RoboMME environments for evaluation.
+
+    Returns {suite_name: {task_id: VectorEnv}} matching lerobot's expected format.
+    """
+    if env_cls is None:
+        env_cls = gym.vector.SyncVectorEnv
+
+    if task_ids is None:
+        task_ids = [0]
+
+    suite_name = "robomme"
+    envs_by_task = {}
+
+    for task_id in task_ids:
+        def _make_one(ep_idx=task_id):
+            return RoboMMEGymEnv(
+                task=task,
+                action_space_type=action_space_type,
+                dataset=dataset,
+                episode_idx=ep_idx,
+                max_steps=episode_length,
+            )
+
+        vec = env_cls(
+            [_make_one for _ in range(n_envs)],
+            autoreset_mode=gym.vector.AutoresetMode.SAME_STEP,
+        )
+        envs_by_task[task_id] = vec
+
+    return {suite_name: envs_by_task}

src/lerobot/processor/env_processor.py

@@ -153,6 +153,44 @@ class LiberoProcessorStep(ObservationProcessorStep):
         return result
 
 
+@dataclass
+@ProcessorStepRegistry.register(name="robocasa_processor")
+class RoboCasaProcessorStep(ObservationProcessorStep):
+    """
+    Processes RoboCasa observations into LeRobot format.
+
+    The RoboCasaEnv wrapper returns:
+        - ``pixels.<cam_name>``: (B, C, H, W) float32 images (already converted by vectorenv)
+        - ``observation.robot_state``: (B, 16) float32 proprioception
+
+    This step remaps them to:
+        - ``observation.images.<cam_name>``   (unchanged tensor)
+        - ``observation.state``               (robot_state renamed)
+    """
+
+    def _process_observation(self, observation: dict) -> dict:
+        processed = {}
+        obs_prefix = OBS_PREFIX  # "observation."
+
+        for key, value in observation.items():
+            if key.startswith(f"{OBS_IMAGES}."):
+                # Already in the right place; pass through
+                processed[key] = value
+            elif key == OBS_STATE or key == f"{obs_prefix}robot_state":
+                # Rename robot_state → observation.state
+                processed[OBS_STATE] = value.float() if hasattr(value, "float") else value
+
+        return processed
+
+    def transform_features(
+        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
+    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        return features
+
+    def observation(self, observation: dict) -> dict:
+        return self._process_observation(observation)
+
+
 @dataclass
 @ProcessorStepRegistry.register(name="isaaclab_arena_processor")
 class IsaaclabArenaProcessorStep(ObservationProcessorStep):

src/lerobot/scripts/lerobot_train.py

@@ -29,7 +29,8 @@ from tqdm import tqdm
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.datasets.factory import make_dataset
-from lerobot.datasets.sampler import EpisodeAwareSampler
+from lerobot.datasets.multi_dataset import NewMultiLeRobotDataset
+from lerobot.datasets.sampler import EpisodeAwareSampler, WeightedEpisodeAwareSampler
 from lerobot.datasets.utils import cycle
 from lerobot.envs.factory import make_env, make_env_pre_post_processors
 from lerobot.envs.utils import close_envs
@@ -343,13 +344,25 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
         logging.info(f"{num_total_params=} ({format_big_number(num_total_params)})")
 
     # create dataloader for offline training
-    if hasattr(cfg.policy, "drop_n_last_frames"):
+    drop_n_last = getattr(cfg.policy, "drop_n_last_frames", 0)
+
+    if isinstance(dataset, NewMultiLeRobotDataset):
+        shuffle = False
+        sampler = WeightedEpisodeAwareSampler(
+            dataset.meta.episodes["dataset_from_index"],
+            dataset.meta.episodes["dataset_to_index"],
+            dataset_membership=dataset.meta.episodes["dataset_source"],
+            dataset_weights=dataset.dataset_weights,
+            drop_n_last_frames=drop_n_last,
+            shuffle=True,
+        )
+    elif drop_n_last > 0:
         shuffle = False
         sampler = EpisodeAwareSampler(
             dataset.meta.episodes["dataset_from_index"],
             dataset.meta.episodes["dataset_to_index"],
             episode_indices_to_use=dataset.episodes,
-            drop_n_last_frames=cfg.policy.drop_n_last_frames,
+            drop_n_last_frames=drop_n_last,
             shuffle=True,
         )
     else:
@@ -360,7 +373,7 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
         dataset,
         num_workers=cfg.num_workers,
         batch_size=cfg.batch_size,
-        shuffle=shuffle and not cfg.dataset.streaming,
+        shuffle=shuffle and not getattr(cfg.dataset, "streaming", False),
         sampler=sampler,
         pin_memory=device.type == "cuda",
         drop_last=False,

tests/test_robocasa_env.py

@@ -0,0 +1,176 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""Tests for RoboCasa LeRobot integration.
+
+Requires: robocasa installed + kitchen assets downloaded.
+Tests are skipped automatically if robocasa is not available.
+"""
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+# Skip entire module if robocasa is not installed or assets are missing
+robocasa = pytest.importorskip("robocasa", reason="robocasa not installed")
+
+from lerobot.envs.robocasa import ACTION_DIM, STATE_DIM, CAM_KEY_TO_NAME, RoboCasaEnv, create_robocasa_envs
+
+# The 5 benchmark tasks (3 short + 2 long)
+BENCHMARK_TASKS = [
+    "PickPlaceCounterToCabinet",  # short
+    "PrepareToast",               # short
+    "CoffeeSetupMug",             # short
+    "PrepareCoffee",              # long
+    "RestockPantry",              # long
+]
+SHORT_TASKS = BENCHMARK_TASKS[:3]
+LONG_TASKS = BENCHMARK_TASKS[3:]
+
+IMAGE_SIZE = 64  # small for fast tests
+
+
+@pytest.fixture(scope="module")
+def single_env():
+    """Shared env instance for lightweight tests."""
+    env = RoboCasaEnv(task="PickPlaceCounterToCabinet", image_size=IMAGE_SIZE)
+    yield env
+    env.close()
+
+
+class TestRoboCasaEnvSpaces:
+    def test_action_space_is_flat_box(self, single_env):
+        import gymnasium as gym
+
+        assert isinstance(single_env.action_space, gym.spaces.Box)
+        assert single_env.action_space.shape == (ACTION_DIM,)
+        assert single_env.action_space.dtype == np.float32
+
+    def test_action_bounds(self, single_env):
+        assert np.all(single_env.action_space.low == -1.0)
+        assert np.all(single_env.action_space.high == 1.0)
+
+    def test_observation_space_has_pixels_and_state(self, single_env):
+        import gymnasium as gym
+
+        assert isinstance(single_env.observation_space, gym.spaces.Dict)
+        assert "pixels" in single_env.observation_space.spaces
+        assert "robot_state" in single_env.observation_space.spaces
+
+    def test_observation_space_cameras(self, single_env):
+        pixels_space = single_env.observation_space["pixels"]
+        expected_cams = set(CAM_KEY_TO_NAME.values())
+        assert set(pixels_space.spaces.keys()) == expected_cams
+
+    def test_state_dim(self, single_env):
+        state_space = single_env.observation_space["robot_state"]
+        assert state_space.shape == (STATE_DIM,)
+
+
+class TestRoboCasaEnvReset:
+    def test_reset_returns_obs_and_info(self, single_env):
+        obs, info = single_env.reset()
+        assert isinstance(obs, dict)
+        assert isinstance(info, dict)
+
+    def test_reset_obs_has_pixels(self, single_env):
+        obs, _ = single_env.reset()
+        assert "pixels" in obs
+        for cam_name in CAM_KEY_TO_NAME.values():
+            assert cam_name in obs["pixels"], f"Missing camera: {cam_name}"
+
+    def test_reset_obs_image_shape(self, single_env):
+        obs, _ = single_env.reset()
+        for cam_name, img in obs["pixels"].items():
+            assert img.shape == (IMAGE_SIZE, IMAGE_SIZE, 3), f"Bad shape for {cam_name}: {img.shape}"
+            assert img.dtype == np.uint8
+
+    def test_reset_obs_state_shape(self, single_env):
+        obs, _ = single_env.reset()
+        assert obs["robot_state"].shape == (STATE_DIM,)
+        assert obs["robot_state"].dtype == np.float32
+
+    def test_reset_info_has_task(self, single_env):
+        _, info = single_env.reset()
+        assert "task" in info
+        assert info["task"] == "PickPlaceCounterToCabinet"
+
+
+class TestRoboCasaEnvStep:
+    def test_step_10_random_actions(self, single_env):
+        single_env.reset()
+        for _ in range(10):
+            action = single_env.action_space.sample()
+            obs, reward, terminated, truncated, info = single_env.step(action)
+        assert obs["robot_state"].shape == (STATE_DIM,)
+        assert isinstance(reward, float)
+        assert isinstance(terminated, bool)
+        assert isinstance(truncated, bool)
+
+    def test_step_bad_action_raises(self, single_env):
+        single_env.reset()
+        with pytest.raises(ValueError, match="Expected 1-D action"):
+            single_env.step(np.zeros((2, ACTION_DIM)))
+
+    def test_step_info_has_is_success(self, single_env):
+        single_env.reset()
+        _, _, _, _, info = single_env.step(single_env.action_space.sample())
+        assert "is_success" in info
+
+
+class TestRoboCasaConfig:
+    def test_robocasa_env_config(self):
+        from lerobot.envs.configs import RoboCasaEnv as RoboCasaEnvConfig
+        from lerobot.configs.types import FeatureType
+
+        cfg = RoboCasaEnvConfig(task="PickPlaceCounterToCabinet", image_size=IMAGE_SIZE)
+        assert cfg.type == "robocasa"
+        # action feature
+        assert "action" in cfg.features
+        assert cfg.features["action"].shape == (ACTION_DIM,)
+        # camera features
+        for cam in ("agentview_left", "agentview_right", "eye_in_hand"):
+            assert cam in cfg.features
+            assert cfg.features[cam].type == FeatureType.VISUAL
+            assert cfg.features[cam].shape == (IMAGE_SIZE, IMAGE_SIZE, 3)
+        # state feature
+        assert "robot_state" in cfg.features
+        assert cfg.features["robot_state"].shape == (STATE_DIM,)
+
+    def test_make_env_config_robocasa(self):
+        from lerobot.envs.factory import make_env_config
+        cfg = make_env_config("robocasa", task="PickPlaceCounterToCabinet")
+        assert cfg.type == "robocasa"
+
+
+class TestRoboCasaProcessorStep:
+    def test_processor_remaps_keys(self):
+        import torch
+        from lerobot.processor.env_processor import RoboCasaProcessorStep
+        from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
+
+        step = RoboCasaProcessorStep()
+        B = 2
+        obs = {
+            f"{OBS_IMAGES}.agentview_left":  torch.zeros(B, 3, IMAGE_SIZE, IMAGE_SIZE),
+            f"{OBS_IMAGES}.agentview_right": torch.zeros(B, 3, IMAGE_SIZE, IMAGE_SIZE),
+            f"{OBS_IMAGES}.eye_in_hand":     torch.zeros(B, 3, IMAGE_SIZE, IMAGE_SIZE),
+            f"observation.robot_state":      torch.zeros(B, STATE_DIM),
+        }
+        out = step._process_observation(obs)
+        assert OBS_STATE in out
+        assert out[OBS_STATE].dtype == torch.float32
+        for cam in ("agentview_left", "agentview_right", "eye_in_hand"):
+            assert f"{OBS_IMAGES}.{cam}" in out