Pepijn 69ed70edeb 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

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

2026-04-14 11:25:25 +02:00

..

_toctree.yml

feat(envs): add RoboCasa365 benchmark integration

2026-04-14 11:25:25 +02:00

act.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

action_representations.mdx

feat(policies): add relative action support for pi0, pi0.5, and pi0_fast (#2970)

2026-04-01 12:59:12 +02:00

adding_benchmarks.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

async.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

backwardcomp.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

bring_your_own_policies.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

cameras.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

contributing.md

…

damiao.mdx

feat(motors): add damiao motors & can bus (#2788)

2026-01-26 17:53:25 +01:00

dataset_subtask.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

debug_processor_pipeline.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

earthrover_mini_plus.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

env_processor.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

envhub_isaaclab_arena.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

envhub_leisaac.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

envhub.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

feetech.mdx

Add feetech firmware update docs (#1793)

2025-08-28 11:18:54 +02:00

groot.mdx

docs(policy): fix gr00t license docs (#3284)

2026-04-05 19:09:15 +02:00

hil_data_collection.mdx

feat(dagger): Add HIL/Dagger/HG-Dagger/RaC style data collection (#2833)

2026-04-02 19:53:59 +02:00

hilserl_sim.mdx

chore(rl): move rl related code to its directory at top level (#2002)

2025-09-23 16:32:34 +02:00

hilserl.mdx

chore: remove unused code (#2062)

2025-09-29 10:49:36 +02:00

hope_jr.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

il_robots.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

implement_your_own_processor.mdx

feat(processors): use pipelines across the codebase (#1452)

2025-09-18 15:25:26 +02:00

index.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

installation.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

integrate_hardware.mdx

feat(robots): consolidate SO arms implementation (#2763)

2026-01-08 13:04:30 +01:00

introduction_processors.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

koch.mdx

fix(docs): update outdated links (#2026)

2025-09-24 16:17:39 +02:00

lekiwi.mdx

chore(docs): updating deprecated huggingface-cli to hf (#3071)

2026-03-04 15:08:49 +01:00

lerobot-dataset-v3.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

libero.mdx

docs(benchmarks): add benchmark integration guide and standardize benchmark docs (#3270)

2026-04-03 14:44:53 +02:00

metaworld.mdx

feat(envs): lazy env init + AsyncVectorEnv as default for n_envs > 1 (#3274)

2026-04-09 10:29:20 +02:00

multi_gpu_training.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

multi_task_dit.mdx

chore(policy): multi dit docs (#3285)

2026-04-05 21:23:13 +02:00

notebooks.mdx

Update pre-commit-config.yaml + pyproject.toml + ceil rerun & transformer dependencies version (#1520)

2025-07-17 14:30:20 +02:00

omx.mdx

fix(robots): update gripper configuration and calibration settings for OMX (#2815)

2026-01-25 22:29:37 +01:00

openarm.mdx

feat(robots): add bi manual openarm follower and leader (#2835)

2026-01-28 17:25:57 +01:00

peft_training.mdx

Add basic PEFT support to train script + record module (#1411)

2026-01-05 08:51:26 +01:00

phone_teleop.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

pi0.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

pi0fast.mdx

chore(docs): remove pi installation note (#3095)

2026-03-06 15:52:54 +01:00

pi05.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

policy_act_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_diffusion_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_groot_README.md

feat(policies): add Nvidia Gr00t N1.5 model (#2292)

2025-10-23 13:50:30 +02:00

policy_multi_task_dit_README.md

Feature/add multitask diffusion transformer policy implementation (#2545)

2026-03-28 00:41:26 +01:00

policy_pi0_README.md

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

policy_pi05_README.md

chore(docs): no policy readme in src code (#3286)

2026-04-05 19:25:38 +02:00

policy_rtc_README.md

chore(docs): no policy readme in src code (#3286)

2026-04-05 19:25:38 +02:00

policy_sarm_README.md

chore(docs): no policy readme in src code (#3286)

2026-04-05 19:25:38 +02:00

policy_smolvla_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_tdmpc_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_vqbet_README.md

Update readme (#1570)

2025-08-01 17:39:39 +02:00

policy_walloss_README.md

fix a bug for kwargs in wallx (#2714)

2026-01-06 15:13:35 +01:00

porting_datasets_v3.mdx

Dataset v3 (#1412)

2025-09-15 09:53:30 +02:00

processors_robots_teleop.mdx

chore(docs): update code block syntax to specify python for clarity (#2770)

2026-01-08 14:45:07 +01:00

reachy2.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

rename_map.mdx

chore(docs): add rename map and empty cam guide (#3065)

2026-03-23 13:57:53 -07:00

robocasa.mdx

feat(envs): add RoboCasa365 benchmark integration

2026-04-14 11:25:25 +02:00

rtc.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

sarm.mdx

chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988)

2026-02-18 22:46:12 +01:00

smolvla.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

so100.mdx

feat(robots): consolidate SO arms implementation (#2763)

2026-01-08 13:04:30 +01:00

so101.mdx

Fix SO-101 assembly instruction order to match videos (#3242)

2026-03-31 12:16:34 +02:00

streaming_video_encoding.mdx

feat(dataset): add streaming video encoding + HW encoder support (#2974)

2026-02-23 13:57:43 +01:00

torch_accelerators.mdx

Add a documentation page with a brief intro to hw backends (#2385)

2025-12-05 13:32:58 +01:00

unitree_g1.mdx

fix(unitree_g1): correct SDK detection and update installation docs (#3115)

2026-03-09 18:47:12 +01:00

using_dataset_tools.mdx

feat(datasets): Add info operation to lerobot-edit-dataset command (#2917)

2026-02-17 20:09:42 +01:00

walloss.mdx

chore: remove usernames + use entrypoints in docs, comments & sample commands (#2988)

2026-02-18 22:46:12 +01:00

xvla.mdx

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00