ACT-Aloha-Insertion-CoreAI

Canonical: kevinqz/ACT-Aloha-Insertion-CoreAI — source of truth.

ACT ALOHA Insertion (fabric)

⚠️ Robot policy — needs a matching robot to actuate. This is lerobot/act_aloha_sim_insertion_human converted to an Apple Core AI .aimodel. Its output is a normalized action chunk for aloha_bimanual_14dof_sim. Run it on any other robot, or with mismatched calibration / normalization stats, and it emits floats that look valid but actuate garbage — the most dangerous silent-failure mode. It is a base checkpoint: fine-tune on your robot's data before expecting useful behavior.

An Apple Core AI conversion of lerobot/act_aloha_sim_insertion_human — a robot policy that maps images + proprioceptive state (+ a language instruction, when the model uses one) to a continuous action chunk (act sampler). Produced by coreai-fabric and indexed by coreai-catalog.

Model facts

Use it — this needs host code you supply

A policy is not a chat model: there is no stock high-level Swift runtime for it. The bundle is a single self-contained graph — you run it once per observation and it returns the whole action chunk directly. Normalization is baked into the traced graph (predict_action_chunk normalizes the inputs and un-normalizes the outputs), so there is no norm_stats.json sidecar and no sampler loop (unlike the flow-matching Pi0/Diffusion bundles). You supply the host wiring in Swift — feed the observation tensors, take the returned action chunk. Recommended integration: keep LeRobot's Python RobotClient for the servos/cameras/calibration, and run inference on-device — see the io_contract in the catalog for the exact tensors.

pip install coreai-catalog && coreai-catalog install act-aloha-insertion

Requirements

• Deployment: macOS 27.0+ / iOS 27.0+, Xcode 27+. The asset serializes with minimum_os v27, so the on-device Swift runtime requires macOS/iOS 27+. A Mac on macOS 26 can convert and inspect it but not run it on-device.
• Apple Silicon. A matching robot to actuate (see the banner).

Verification (action parity)

• Gate A (structure): passed — the bundle's layout + metadata were validated on real hardware; the graphs load.
• Gate B — action_parity: 100.0% min chunk-cosine vs the fp16 reference over 8 frames of recorded episodes, N-step, fixed-noise (measured on Apple Silicon).
• This certifies the export is numerically faithful to the source policy — it does NOT certify real-world task success, embodiment transfer, or closed-loop stability. Closed-loop success-rate eval (LIBERO/ManiSkill): not_run (a separate future gate). Reproduce with coreai-fabric verify.

Provenance

Machine-readable, in this repo: parity-report.json (gate results) · reproduce-manifest.json · LICENSE (upstream terms).

License and attribution

Weights licensed apache-2.0 — see the bundled LICENSE. This artifact is a converted derivative of the base policy: its weights were converted to Apple Core AI format. The conversion itself is community work.

Links

• Base model: lerobot/act_aloha_sim_insertion_human
• Reproduce: recipe act-aloha-insertion
• Index: coreai-catalog — the neutral registry tying upstream ↔ this asset ↔ mirror together
• HF Collection

The on-device Core AI ecosystem

• coreai-fabric — the reproducible recipe → .aimodel pipeline that produced this asset.
• coreai-catalog — the index of Core AI models across the community, with provenance and integration snippets.
• apple/coreai-models — Apple's official exporters and runtimes.
• LeRobot — the upstream robotics ecosystem.

Not affiliated with Apple

Community conversion. Not produced, hosted, or endorsed by Apple. Apple and Core AI are trademarks of Apple Inc., used here only to describe the target runtime/format. This is an independent community conversion.