Set up the benchmark
Follow the official RoboCasa installation guide for the simulator, its matching robosuite dependency, and kitchen assets. Use the XR-1 RoboCasa365 evaluator guide for the upstream benchmark environment and headless rendering requirements. Pin the evaluator to7c20088b5328db7bdb6c399352326af3b38c9d31 when comparing with these docs.
The upstream guide’s local server and checkpoint download are needed for its socket evaluation path.
Hosted Reactor inference replaces that server and runs model preprocessing remotely. Its launcher
cannot be pointed at a Reactor session by changing a host or port.
Adapter responsibilities
Use the upstream evaluator’sobservation_to_state, collect_images, and history-sampling logic as
the observation reference. Replace the local EvalClient.infer request with named video tracks,
set_state_history_json, an execution echo, and an action_prediction reply.
The timing boundary needs explicit validation. With the default server sampling, publish consecutive
environment observations rather than pre-sampling video twice. Startup padding and the receipt gate
of four complete camera sets per echo must preserve the same sample indices for video and state.
Wall-clock frame repeats can satisfy the receipt count while corrupting temporal spacing; the
quickstart helper therefore cannot be reused as a rollout publisher without an adapter.