InsertAnything Checkpoints
Pretrained RL-Games policies for the single-hole precision-insertion environments released with InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality.
The policies were trained entirely in Isaac Lab. They use deployable robot observations together with a compact three-axis fingertip force signal for contact-aware motion correction. The files are intended for evaluation, visualization, and reproducibility checks with the accompanying InsertAnything codebase.
Released files
| Checkpoint | Isaac Lab task | Observation dim | Configuration | SHA256 |
|---|---|---|---|---|
InsertAnything-LHole-III-Direct-v0.pth |
InsertAnything-LHole-III-Direct-v0 |
26 | L-shape, Tol. III, fingertip force observation, state-independent policy standard deviation | FC158B0D72AFDAB0D860CEB379F8E3EC2B0B693D49C9B24629608A5BEA4B58AC |
InsertAnything-HexagonHole-III-Direct-v0.pth |
InsertAnything-HexagonHole-III-Direct-v0 |
26 | Hexagon, Tol. III, fingertip force observation, state-independent policy standard deviation | D11D9A4849238DBDEC4602EFB86DF6D260118FB7CA59E0F159A05546D2B14C08 |
The checkpoint and task names must match because geometry, observation construction, symmetry handling, and control settings are defined by the registered Isaac Lab task.
Download
Install the Hugging Face CLI and download the files from the root of the InsertAnything repository:
python -m pip install -U huggingface_hub
hf download tOMRmA/InsertAnything-checkpoints InsertAnything-LHole-III-Direct-v0.pth `
--repo-type model `
--local-dir source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints
hf download tOMRmA/InsertAnything-checkpoints InsertAnything-HexagonHole-III-Direct-v0.pth `
--repo-type model `
--local-dir source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints
Evaluation
Install the InsertAnything extension and its Isaac Lab dependencies before running these commands.
L-shape Tol. III
python scripts/rl_games/play.py `
--task InsertAnything-LHole-III-Direct-v0 `
--num_envs 128 `
--headless `
--seed 0 `
--max_episodes 3 `
--checkpoint source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints/InsertAnything-LHole-III-Direct-v0.pth
With Isaac Sim 5.0, seed 0, and 128 environments, the release validation produced episode success rates of 97.66%, 96.88%, and 94.53% (370/384 trials; aggregate: 96.35%). The corresponding average success times were 5.95 s, 6.65 s, and 6.08 s.
Hexagon Tol. III
python scripts/rl_games/play.py `
--task InsertAnything-HexagonHole-III-Direct-v0 `
--num_envs 128 `
--headless `
--seed 0 `
--max_episodes 3 `
--checkpoint source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints/InsertAnything-HexagonHole-III-Direct-v0.pth
Under the same protocol, the release validation produced episode success rates of 94.53%, 98.44%, and 96.88% (371/384 trials; aggregate: 96.61%). The corresponding average success times were 5.64 s, 5.57 s, and 4.99 s.
Results can vary with the simulator version, hardware, and random seed.
Integrity check
Get-FileHash `
source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints/*.pth `
-Algorithm SHA256
Compare the returned hashes with the table above before evaluation.
Intended use and limitations
- These checkpoints are provided for the corresponding InsertAnything simulation tasks and research use.
- They are not standalone models: task configuration, assets, observation construction, and controller code are required from the InsertAnything repository.
- Real-robot deployment additionally requires calibration, compatible robot and tactile-sensor interfaces, safety limits, and operator supervision.
- Performance on modified assets, simulator settings, observation schemas, or physical systems is not guaranteed by the released simulation validation.
License
The checkpoints are released under the BSD 3-Clause license.