---

name: act-plus-plus description: "Routes ACT++, ACT, Diffusion Policy, VINN, and MuJoCo simulation workflows for bimanual ALOHA episode data and imitation-learning tasks." disable-model-invocation: true metadata: disco-role: operating license: MIT

act-plus-plus

Use this repo skill when a task is about the ACT++ / Mobile ALOHA imitation-learning repository: simulated ALOHA episode generation, ACT or Diffusion Policy training, HDF5 episode utilities, MuJoCo + DM Control task behavior, or VINN feature workflows.

Start here

1. Read repo provenance if you need to check whether this skill matches the checkout or if code changed.
2. Run or read scripts/check_environment.py before expensive workflows. It checks the external package/backend stack without running training.
3. Use the route table below, then stay inside the owning sub-skill and its linked references.
4. For command flags and data shapes that cross multiple workflows, read CLI reference, data formats, and API reference.
5. For backend, dependency, or real-robot caveats, read cross-cutting troubleshooting.

Install notes

For a checkout, install the repo's Python stack before launching any workflow:

• install the external Python dependencies needed by the workflow you want;
• install the repository itself in editable mode;
• install the detr/ subpackage in editable mode so the util and models imports resolve;
• then run scripts/check_environment.py before long jobs.

The exact dependency set depends on the chosen workflow: simulation only needs MuJoCo / DM Control plus image and HDF5 utilities, while policy training and VINN also need CUDA-enabled torch plus robomimic / diffusers support.

Route by user intent

User task	Read
Generate scripted simulated episodes, replay actions, render videos, mirror/compress/truncate HDF5 episodes, or debug MuJoCo/DM Control rendering	simulation-data
Train/evaluate ACT, CNNMLP, Diffusion Policy, or the ACT VQ latent model; inspect checkpoint/stat files; convert README commands into current CLI flags	policy-training
Cache BYOL/ResNet image features, select nearest-neighbor k, inspect VINN feature-file layouts, or avoid the raw VINN scripts' interactive traps	vinn-offline
Understand supported task names, camera names, HDF5 schemas, or how episode files flow between data and training	overview and data formats
Diagnose ModuleNotFoundError, BOX_POSE assertion failures, missing MUJOCO_GL, CUDA errors, mismatched robomimic/diffusers installs, or Mobile ALOHA hardware dependencies	troubleshooting

Repository operating model

• Core simulated tasks are transfer cube and bimanual insertion. The sim data flow uses an end-effector environment for scripted demos, then replays joint commands into the joint-space environment to record observations.
• Episode files are HDF5 datasets with /observations/qpos, /observations/qvel, /action, and /observations/images/<camera> groups. Compressed/mirrored variants add compress=true and /compress_len.
• ACT/CNNMLP/Diffusion training is driven by imitate_episodes-style arguments. Current training code uses --num_steps; older README command snippets may say --num_epochs.
• Training and VINN paths call .cuda() directly. Treat CUDA as required unless the code is explicitly modified.
• MuJoCo rendering needs an offscreen GL backend such as MUJOCO_GL=egl; do not treat a CPU import as proof that rendered sim data generation works.
• Real robot branches depend on the external Mobile ALOHA / Interbotix stack and hardware. This generated skill covers them only as troubleshooting/gap notes, not as a verified runtime route.

Minimal checks

Use the bundled checkers rather than launching long training or real robot code first:

python scripts/check_environment.py
python sub-skills/simulation-data/scripts/check_sim_backend.py --repo-root /path/to/act-plus-plus --task sim_transfer_cube
python sub-skills/policy-training/scripts/check_policy_stack.py --repo-root /path/to/act-plus-plus
python sub-skills/vinn-offline/scripts/check_vinn_stack.py --repo-root /path/to/act-plus-plus

The --repo-root examples accept any checkout of ACT++; they are not tied to the source checkout used to build this skill.

What is intentionally not routed

• Servo calibration, align-style robot movement, Dynamixel diagnostics, and real Mobile ALOHA runtime deployment require external hardware packages and are not verified here.
• train_actuator_network is an experiment-oriented utility with hard-coded data/log paths and dataset fields; treat it as reference evidence only.
• The empty byol_pytorch gitlink in the inspected checkout was not used as source evidence. VINN guidance is based on the available ACT++ VINN scripts and feature-file contracts.