RoboCasa: per-task episode horizons (TASK_SUITE_MAX_STEPS equivalent)

[shuheng-liu]

Problem

RoboCasaEnv uses a single episode_length (default 1000) as _max_episode_steps for every task. RoboCasa spans ~65 atomic tasks (e.g. CloseFridge, single-skill, short) and ~300 composite tasks (multi-step, long), whose natural horizons differ by an order of magnitude. A flat 1000 is too long for atomic tasks (wastes rollout time, and "any-step success" can be inflated) and potentially too short for long composites.

LIBERO tunes this per suite via TASK_SUITE_MAX_STEPS (libero_spatial=280, libero_10=520, ...).

Suggested approach

• A per-task or per-group (atomic / composite / pretrain) max-steps mapping for RoboCasa, defaulting sensibly and overridable from the config.
• Consider sourcing horizons from RoboCasa's own task metadata if available.

References

• _max_episode_steps in src/opentau/envs/robocasa.py
• cf. TASK_SUITE_MAX_STEPS in src/opentau/envs/libero.py