chore: canonical naming migration

rskill.yaml

@@ -25,7 +25,7 @@
 # RoboTwin's native LeRobot env cameras are head_camera / left_camera /
 # right_camera. The sidecar (tools/robotwin_sidecar.py) re-keys them, in fixed
 # head→left→right order, to the SCENE's camera names — the aloha_agilex canonical
-# sensor names top / wrist_left / wrist_right (ADR-0070), NOT camera1/2/3. The
+# sensor names top / wrist_left / wrist_right, NOT camera1/2/3. The
 # checkpoint expects observation.images.camera1/2/3, so the sim adapter needs a
 # rename from the scene names to the checkpoint keys. That rename is declared per
 # skill in `image_preprocessing.aliases` below — the same mechanism smolvla-libero
@@ -42,7 +42,7 @@
 
 # ── Identity ───────────────────────────────────────────────────────────────
 schema_version: "0.1"
-name: "OpenRAL/rskill-smolvla-robotwin"
+name: "OpenRAL/rskill-smolvla-aloha_agilex-robotwin-bf16"
 version: "0.1.0"
 license: "apache-2.0"
 role: "s1"
@@ -73,7 +73,7 @@ sensors_required:
     min_width: 256
     min_height: 256
 
-# Output side (ADR-0013). 14-DoF dual-arm joint command. For aloha_agilex
+# Output side. 14-DoF dual-arm joint command. For aloha_agilex
 # the loader auto-fills n_dof (14) + vla_action_key from
 # robots/aloha_agilex/robot.yaml.
 actuators_required:
@@ -86,7 +86,7 @@ runtime: "pytorch"
 quantization:
   dtype: "bf16"
   backend: "pytorch"
-weights_uri: "hf://lerobot/smolvla_robotwin@967623a0f38c7e1236c66b3893c830398d793ff7"
+weights_uri: "hf://lerobot/smolvla_robotwin"
 
 # ── Preprocessing (all knobs needed to interpret IO) ───────────────────────
 # The official checkpoint ships the lerobot PolicyProcessorPipeline JSONs
@@ -125,7 +125,7 @@ latency_budget:
 # ── Provenance ─────────────────────────────────────────────────────────────
 # No benchmarks shipped yet — see eval/.gitkeep. Populated by
 # `openral benchmark run --suite robotwin` once the SAPIEN sidecar venv is
-# provisioned (ADR-0061). RoboTwin leaderboard SmolVLA-class baselines for
+# provisioned. RoboTwin leaderboard SmolVLA-class baselines for
 # reference (Pi0 46.4/16.3 Easy/Hard) are paper-cited, not reproduced here.
 paper_url: "https://arxiv.org/abs/2506.18088"
 dataset_uri: "hf://lerobot/robotwin_unified"
@@ -136,16 +136,16 @@ description: >
   unified dataset (50 dual-arm tasks, aloha-agilex embodiment, SAPIEN).
   Multi-task: action chunks of length 50 across three RGB views
   (head + per-wrist) driving a 14-DoF dual-arm joint command. Runs on the
-  RoboTwin scene backend through the out-of-process SAPIEN sidecar (ADR-0061).
+  RoboTwin scene backend through the out-of-process SAPIEN sidecar.
 
-# ── Task-data gate (ADR-0060) ──────────────────────────────────────────────
+# ── Task-data gate ─────────────────────────────────────────────────────────
 # Multi-task checkpoint trained on the full robotwin_unified set, so it is
 # valid on every RoboTwin scene. Declaring the scene id `robotwin` makes the
 # benchmark runner accept all `robotwin/<task>` scenes (family match) and
 # refuse non-RoboTwin scenes.
 evaluated_tasks: ["robotwin"]
 
-# ── Action vocabulary (ADR-0022) ───────────────────────────────────────────
+# ── Action vocabulary ──────────────────────────────────────────────────────
 # GENERALIST marks the multi-task foundation checkpoint; the specific verbs
 # cover the bimanual-coordination / pick-place / stacking task families.
 actions:
@@ -161,10 +161,10 @@ objects:
 scenes:
   - "tabletop"
 
-# ── Per-checkpoint action contract (ADR-0019) ──────────────────────────────
+# ── Per-checkpoint action contract ─────────────────────────────────────────
 action_contract:
   dim: 14
-  # ADR-0071 — RoboTwin aloha-agilex emits absolute joint positions
+  # RoboTwin aloha-agilex emits absolute joint positions
   # (2×(6 arm + 1 gripper)).
   representation: "joint_positions"
   # EXPLICIT joint units — RoboTwin (SAPIEN, aloha-agilex qpos) records in