| --- |
| tags: |
| - OpenRAL |
| - rskill |
| - act |
| - lerobot |
| - aloha |
| - bimanual |
| - manipulation |
| - insertion |
| license: mit |
| language: |
| - en |
| --- |
| |
| # rskill-act-aloha-insertion |
|
|
| > **OpenRAL rSkill (custom example)** — ACT (Action Chunking Transformer) |
| > finetuned on the ALOHA bimanual **peg-insertion** task, packaged for |
| > `OpenRAL`. |
|
|
| This package wraps |
| [`lerobot/act_aloha_sim_insertion_human`](https://huggingface.co/lerobot/act_aloha_sim_insertion_human) |
| with a `rskill.yaml` manifest that adds capability checking, license |
| surfacing, latency budgets, and local registry integration. It does |
| **not** copy model weights. |
|
|
| It is the harder sibling of [`rskill-act-aloha`](../act-aloha) (cube |
| transfer) and demonstrates how a single packaging format covers multiple |
| task-specific checkpoints from the same paper. The runnable demo lives at |
| `examples/sim/custom_act_aloha_insertion.yaml` and is wired into the |
| top-level `just sim-custom` recipe. |
|
|
| ## Upstream model |
|
|
| | Field | Value | |
| | --- | --- | |
| | Source repo | [`lerobot/act_aloha_sim_insertion_human`](https://huggingface.co/lerobot/act_aloha_sim_insertion_human) | |
| | Architecture | Action Chunking Transformer (~52M params, chunk=100) | |
| | Task | gym-aloha `AlohaInsertion-v0` (bimanual peg-in-socket) | |
| | License | MIT | |
| | Paper | Zhao et al., 2023 — *Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware* ([arXiv 2304.13705](https://arxiv.org/abs/2304.13705)) | |
|
|
| ## Why no `eval/` block? |
|
|
| This skill is shipped as a **custom-example** package, not as a |
| reproduced benchmark entry. The paper's headline number for sim ALOHA |
| insertion is markedly lower than the cube-transfer figure (the task is |
| harder and the upstream protocol uses different camera intrinsics). We |
| deliberately omit `eval/` rather than copy paper numbers without an |
| internal reproduction; per CLAUDE.md §6.4 that omission must be |
| documented — this section is that documentation. Add `eval/aloha_insertion.json` |
| once a local reproduction lands. |
|
|
| ## Run it |
|
|
| ```bash |
| just sim-custom |
| ``` |
|
|
| …which is equivalent to: |
|
|
| ```bash |
| MUJOCO_GL=egl uv run --group sim ral sim run \ |
| --config examples/sim/custom_act_aloha_insertion.yaml \ |
| --save-video example_videos |
| ``` |
|
|
