Get the model on the robot
If the robot is on when a run finishes, the model downloads and activates by itself. In the phone app, you can also tap Download on the run in the Completed tab. Once active, the skill is available everywhere. Downloading a different run of the same skill replaces the active model.Test it
Run the skill by hand from the web app’s Teleop page or the phone app’s Manual Control (see Run a skill manually). The arm moves to its start pose, then the policy takes over. Make the first test easy: same robot position, object, and lighting as when you recorded. If it fails there, the problem is the data, not the scene. Then add it to an agent like any skill:Fix what fails
The most reliable fix is more data. Record 20–30 episodes of the failing case and retrain; new episodes add to the existing dataset. Once it works, add variation step by step (a new position, a different color, other lighting) and record 10–20 episodes each time it breaks.