schema_version: "0.1"
name: "OpenRAL/rskill-xr1-panda_mobile-robocasa365-nf4"
version: "0.1.0"
license: "apache-2.0"
role: "s1"
kind: "vla"
model_family: "xr1"
evaluated_tasks: ["robocasa"]

embodiment_tags: ["panda_mobile"]
sensors_required:
  - modality: "rgb"
    vla_feature_key: "observation.images.camera1"
    min_width: 256
    min_height: 256
  - modality: "rgb"
    vla_feature_key: "observation.images.camera2"
    min_width: 256
    min_height: 256
  - modality: "rgb"
    vla_feature_key: "observation.images.camera3"
    min_width: 256
    min_height: 256
actuators_required:
  - kind: "joint_position"
    control_mode_semantics:
      mode: "delta"

runtime: "pytorch"
quantization:
  dtype: "int4"
  backend: "pytorch"
weights_uri: "hf://OpenRAL/rskill-xr1-panda_mobile-robocasa365-nf4"
image_preprocessing:
  flip_180: false
state_contract:
  layout: "rc365"
  dim: 16
  bindings:
    eef_frame: "panda_hand_tcp"
    base_frame: "base_link"
    world_frame: "odom"
    gripper_qpos_joints: ["panda_gripper"]
    quaternion_convention: "xyzw"
chunk_size: 16
n_action_steps: 16
latency_budget:
  per_chunk_ms: 120000.0

policy_extras:
  xr1_profile: "robocasa365"
  replan_steps: 16
  crop_ratio: 0.95
  prequantized_nf4: true

paper_url: "https://arxiv.org/abs/2607.15330"
source_repo: "hf://XiaomiRobotics/Xiaomi-Robotics-1-RoboCasa365@0d1aa76d0d82debc9b611e4d1e231096434d5be4"
description: >
  Apache-2.0 XR-1 RoboCasa365 checkpoint. The adapter keeps seven frames,
  samples four at interval two, converts OpenRAL's 16-D quaternion layout to
  XR-1's 14-D axis-angle state, and replays sixteen decoded actions per query.

actions: ["generalist", "pick", "place", "open", "close"]
objects: ["kitchen_object"]
scenes: ["kitchen"]
action_contract:
  dim: 12
  slots:
    - {range: [0, 5], control_mode: "cartesian_delta", ee: "panda_gripper", frame: "panda_link0"}
    - {range: [6, 6], control_mode: "gripper_position", ee: "panda_gripper"}
    - {range: [7, 9], control_mode: "joint_velocity", joint_names: ["base_x", "base_y", "base_yaw"]}
    - {range: [10, 10], discard: true}
    - {range: [11, 11], control_mode: "composite_mode"}