Release L-hole III and Hexagon III checkpoints

InsertAnything-HexagonHole-III-Direct-v0.pth

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InsertAnything-LHole-III-Direct-v0.pth

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README.md

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 ---
-license: apache-2.0
+license: bsd-3-clause
+library_name: rl-games
+tags:
+  - isaac-lab
+  - reinforcement-learning
+  - robotics
+  - peg-in-hole
+  - contact-rich-manipulation
+  - tactile-sensing
+  - sim-to-real
+  - insertanything
 ---
+
+# 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:
+
+```powershell
+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
+
+```powershell
+python scripts/rl_games/play.py `
+  --task InsertAnything-LHole-III-Direct-v0 `
+  --num_envs 128 `
+  --headless `
+  --checkpoint source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints/InsertAnything-LHole-III-Direct-v0.pth
+```
+
+With Isaac Sim 5.0 and 128 environments, the release validation produced episode success rates of 97.66%, 96.88%, and 94.53%. Results can vary with the simulator version, hardware, and random seed.
+
+### Hexagon Tol. III
+
+```powershell
+python scripts/rl_games/play.py `
+  --task InsertAnything-HexagonHole-III-Direct-v0 `
+  --num_envs 128 `
+  --headless `
+  --checkpoint source/InsertAnything/InsertAnything/tasks/direct/insertanything/checkpoints/InsertAnything-HexagonHole-III-Direct-v0.pth
+```
+
+## Integrity check
+
+```powershell
+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.