chore: publish rSkill OpenRAL/rskill-rtdetr-coco-r18 v0.1.0

README.md

@@ -140,7 +140,7 @@ The detector emits **no** `Action` chunks and has no proprioception
 | `kind` | `detector` (ADR-0037 perception producer) |
 | `embodiment_tags` | all 17 canonical embodiment tags (any robot with RGB camera) |
 | `runtime` / `quantization.dtype` | `onnx` / `fp32` |
-| `weights_uri` | `rskill://rskills/rtdetr-coco-r18` |
+| `weights_uri` | `local://rskills/rtdetr-coco-r18` |
 | `latency_budget.per_chunk_ms` | `50.0` |
 | `detector.labels` | 80 COCO categories |
 | `detector.input_size` | `[640, 640]` |

rskill.yaml

@@ -57,8 +57,8 @@ quantization:
   backend: "onnx"
 
 # RT-DETR-L exported to ONNX. References the in-tree rSkill package.
-# The loader resolves rskill:// to the local rskills/<id>/ directory.
-weights_uri: "rskill://rskills/rtdetr-coco-r18"
+# The loader resolves local:// to the local rskills/<id>/ directory.
+weights_uri: "local://rskills/rtdetr-coco-r18"
 
 # ── Execution semantics ─────────────────────────────────────────────────────
 # chunk_size is 1: the detector runs per-frame. The safety supervisor never
@@ -74,6 +74,9 @@ latency_budget:
 # 80 COCO labels (subset shown for readability — full list matches the
 # 0-indexed COCO category order used by the exported model).
 detector:
+  # ADR-0051: always-on background producer (publishes ObjectsMetadata to
+  # WorldState; not the on-demand locate_in_view locator).
+  mode: "continuous"
   labels:
     - "person"
     - "bicycle"
@@ -156,7 +159,7 @@ detector:
     - "hair drier"
     - "toothbrush"
   input_size: [640, 640]
-  score_threshold: 0.5
+  score_threshold: 0.7
 
 # ── Provenance ──────────────────────────────────────────────────────────────
 paper_url: "https://arxiv.org/abs/2304.08069"