OpenRAL/rskill-xr1-panda_mobile-robocasa365-nf4

XR-1 RoboCasa365

OpenRAL wrapper for Xiaomi Robotics' XR-1 RoboCasa365 checkpoint. The package references the pinned upstream checkpoint and preserves its temporal three-camera contract.

Preview

Successful RoboCasa365 OpenDrawer rollout

CloseBlenderLid fail rollout

What this skill does

Field	Value
Actions	generalist kitchen manipulation
Objects	kitchen objects and fixtures
Scenes	RoboCasa365 kitchens
Embodiment	panda_mobile

How it works

The adapter stores seven observations, samples four frames at offsets [-6, -4, -2, 0], converts the OpenRAL 16-D EE/base quaternion state to the 14-D axis-angle order used by Xiaomi's evaluator, applies the reference 0.95 center crop, and sends the batch to the isolated XR-1 sidecar. It replays 16 actions before replanning.

Observation -> action contract

Direction	Key	Shape	Notes
in	three RGB videos	(4, H, W, 3) each	left/right base and wrist
in	state history	(4, 14)	EE, gripper, base; raw physical units
out	action chunk	(T, 12)	EE delta, gripper, base, padding/mode

Upstream model and training

Field	Value
Source repo	XiaomiRobotics/Xiaomi-Robotics-1-RoboCasa365
Base model	XR-1 5B
Paper	Xiaomi-Robotics-1
License	Apache-2.0
Parameters	5.44B
Training data	RoboCasa365

Supported robots

Robot	Embodiment tag	Status	Notes
PandaMobile in RoboCasa	panda_mobile	integration-ready	Xiaomi does not pin the exact RoboCasa365 revision, so benchmark reproduction remains blocked.

Sensors required

Three RGB streams plus the PandaMobile EE, gripper, and base state described in the manifest's rc365 bindings.

Manifest summary

Field	Value
name	OpenRAL/rskill-xr1-panda_mobile-robocasa365-nf4
version	0.1.0
license	apache-2.0
role	s1
runtime / dtype	PyTorch sidecar / NF4
weights_uri	hf://OpenRAL/rskill-xr1-panda_mobile-robocasa365-nf4
latency_budget.per_chunk_ms	120000
commercial_use_allowed	yes

Quick start

just sync --group sidecar-wire --group robocasa
OPENRAL_ALLOW_REMOTE_CODE=1 openral sim run \
  --config scenes/sim/xr1_robocasa365_close_blender_lid.yaml \
  --rskill rskills/xr1-robocasa365

Reproduction

The scene is a 20-step wiring check matching Xiaomi's documented smoke task, not a score reproduction. Xiaomi's exact RoboCasa365 dependency revision is not published.

Evaluation

No benchmark JSON is shipped until the upstream environment revision can be pinned and the full 50-trial protocol is run.

License

The wrapper and upstream code/weights are Apache-2.0. The checkpoint executes custom HF code and therefore requires OPENRAL_ALLOW_REMOTE_CODE=1.

See also

• scenes/sim/xr1_robocasa365_close_blender_lid.yaml
• docs/reference/vla_compatibility.md