---
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
```