--- title: OpenRAL emoji: ๐Ÿค– colorFrom: indigo colorTo: indigo sdk: static pinned: true short_description: The open harness for physical AI license: apache-2.0 thumbnail: >- https://cdn-uploads.huggingface.co/production/uploads/679bec571de528e679aae409/KR7hrL_kADf-oPybj7Q0C.png ---
# OpenRAL **The open harness for physical AI.** OpenRAL is the open-source **Robot Agentic Layer** (harness) for embodied AI. It unifies fast policies, slow reasoning, reward signals, perceptual AI and classical control into a **typed, traceable, safety-first runtime** โ€” on real hardware and in simulation. One fixed harness, swappable **rSkills**. [![Website](https://img.shields.io/badge/openral.com-white?logo=googlechrome&logoColor=black)](https://openral.com) [![GitHub](https://img.shields.io/badge/GitHub-OpenRAL-181717?logo=github&logoColor=white)](https://github.com/OpenRAL/openral) [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://github.com/OpenRAL/openral/blob/master/LICENSE) [![Python](https://img.shields.io/badge/python-3.12-blue)](https://github.com/OpenRAL/openral) [![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-22314E?logo=ros&logoColor=white)](https://docs.ros.org/en/jazzy/) [![Discord](https://img.shields.io/badge/Discord-Join%20us-5865F2?logo=discord&logoColor=white)](https://discord.gg/3paXT2bVyB)
--- ## What is OpenRAL? A VLA alone is not an agent. OpenRAL wraps it in the loop it needs โ€” a typed, layered runtime between a robot's motor API and a task planner: - **The harness** โ€” a slow LLM **reasoner** (S2) planning in typed tool-calls, fast visuomotor policies (S1, 30โ€“200 Hz) executing action chunks, perception and world state keeping both honest, and a separate C++ deny-by-default **safety kernel** gating every command. Pydantic v2 contracts at every layer boundary. - **rSkills** โ€” every capability the agent has is an rSkill, not just VLAs: detectors, scene VLMs, reward monitors, MoveIt 2 / Nav2 actions and reasoner playbooks, packaged as Hub repos with weights, a typed `rskill.yaml` manifest and reproducible eval. Install like a model: `openral rskill install OpenRAL/rskill-smolvla-franka_panda-libero_spatial-bf16`. Swap any of them; the harness never changes. - **Benchmark โ†’ sim โ†’ real** โ€” the same agent runs benchmark suites, headless sim rollouts and real hardware, and every run is an OpenTelemetry trace you can replay, audit, or fold into a LeRobot dataset flywheel. --- ## What's shipped | | | |---|---| | ๐Ÿค– **15+ robot platforms** | SO-100/SO-101, Franka Panda, UR5e/UR10e, ALOHA bimanual, Galaxea A1, OpenArm v2, Unitree H1/G1, Rethink Sawyer, Fourier GR1, WidowX | | ๐Ÿง  **30+ rSkills** | SmolVLA, ฯ€0.5, GR00T N1.7, LingBot-VLA 2.0, InternVLA-N1 (VLN), MolmoAct2, xVLA, ACT, Diffusion Policy, RLDX-1, OpenVLA-OFT, RT-DETR, OmDet-Turbo, LocateAnything, Qwen3.5-4B VLM, Robometer-4B, MoveIt 2 / Nav2 actions, playbooks | | ๐ŸŽฎ **Benchmark suites** | LIBERO, MetaWorld, ManiSkill3, SimplerEnv, RoboCasa, RoboTwin 2.0, RLBench, gym-aloha, gym-pusht | | ๐Ÿ”ฌ **Sim engines** | MuJoCo, Isaac Sim, Genesis, SAPIEN, robosuite, CoppeliaSim | | ๐Ÿ“ก **Sensors & perception** | RealSense D435/D435i/D415, Luxonis OAK-D Pro, USB UVC, Robotiq FT-300 ยท Depth Anything 3 metric depth ยท cuVSLAM stereo SLAM | --- ## Quick start ```bash curl -fsSL https://raw.githubusercontent.com/OpenRAL/openral/master/scripts/install.sh | bash openral doctor openral rskill install OpenRAL/rskill-smolvla-franka_panda-libero_spatial-bf16 openral sim run scenes/benchmark/libero_spatial.yaml ``` --- ## Community & support - ๐Ÿ’ฌ **[Discord](https://discord.gg/3paXT2bVyB)** โ€” questions, help, design chat - ๐Ÿ“ง **[hello@openral.com](mailto:hello@openral.com)** โ€” general enquiries - ๐Ÿ”’ **Security disclosures:** [security@openral.com](mailto:security@openral.com) โ€” never a public issue --- ## License OpenRAL is **Apache-2.0**. Third-party model weights keep their own upstream licenses; the loader surfaces each weight's license at install time.