If you want to run a published package from a robot tray without using Orchestrator.
you need to disconnect your robot first
How to publish package to robot tray(without Orchestrator) :
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Publish your package to default folder: C:\ProgramData\UiPath\Packages.
or copy and paste your .nupkg file in that folder
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Disconnect your robot
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Install the packages that you published.
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Now you can run it on robot tray
I hope this information will be useful for you