diff --git a/qiskit/dagcircuit/dagcircuit.py b/qiskit/dagcircuit/dagcircuit.py
index 754169c0d157..065e0f74ff74 100644
--- a/qiskit/dagcircuit/dagcircuit.py
+++ b/qiskit/dagcircuit/dagcircuit.py
@@ -216,7 +216,9 @@ def add_calibration(self, gate, qubits, schedule, params=None):
             Exception: if the gate is of type string and params is None.
         """
         if isinstance(gate, Gate):
-            self._calibrations[gate.name][(tuple(qubits), tuple(gate.params))] = schedule
+            self._calibrations[gate.name][
+                (tuple(qubits), tuple(float(p) for p in gate.params))
+            ] = schedule
         else:
             self._calibrations[gate][(tuple(qubits), tuple(params or []))] = schedule
 
diff --git a/qiskit/transpiler/passes/calibration/builders.py b/qiskit/transpiler/passes/calibration/builders.py
index 966916e384ce..cdb8be5e1bbe 100644
--- a/qiskit/transpiler/passes/calibration/builders.py
+++ b/qiskit/transpiler/passes/calibration/builders.py
@@ -192,8 +192,8 @@ def rescale_cr_inst(instruction: Play, theta: float, sample_mult: int = 16) -> P
             gaussian_area = abs(amp) * sigma * np.sqrt(2 * np.pi) * math.erf(n_sigmas)
             area = gaussian_area + abs(amp) * width
 
-            target_area = abs(theta) / (np.pi / 2.0) * area
-            sign = theta / abs(theta)
+            target_area = abs(float(theta)) / (np.pi / 2.0) * area
+            sign = theta / abs(float(theta))
 
             if target_area > gaussian_area:
                 width = (target_area - gaussian_area) / abs(amp)
diff --git a/qiskit/transpiler/passes/scheduling/alap.py b/qiskit/transpiler/passes/scheduling/alap.py
index e246aa9a61d1..4357f85940f7 100644
--- a/qiskit/transpiler/passes/scheduling/alap.py
+++ b/qiskit/transpiler/passes/scheduling/alap.py
@@ -84,9 +84,15 @@ def pad_with_delays(qubits: List[int], until, unit) -> None:
             # validate node.op.duration
             if node.op.duration is None:
                 indices = [bit_indices[qarg] for qarg in node.qargs]
-                raise TranspilerError(
-                    f"Duration of {node.op.name} on qubits {indices} is not found."
-                )
+                if dag.has_calibration_for(node):
+                    node.op.duration = dag.calibrations[node.op.name][
+                        (tuple(indices), tuple(float(p) for p in node.op.params))
+                    ].duration
+
+                if node.op.duration is None:
+                    raise TranspilerError(
+                        f"Duration of {node.op.name} on qubits {indices} is not found."
+                    )
             if isinstance(node.op.duration, ParameterExpression):
                 indices = [bit_indices[qarg] for qarg in node.qargs]
                 raise TranspilerError(
diff --git a/qiskit/transpiler/passes/scheduling/asap.py b/qiskit/transpiler/passes/scheduling/asap.py
index 5ba174701f68..5c0d08dda2eb 100644
--- a/qiskit/transpiler/passes/scheduling/asap.py
+++ b/qiskit/transpiler/passes/scheduling/asap.py
@@ -85,9 +85,15 @@ def pad_with_delays(qubits: List[int], until, unit) -> None:
             # validate node.op.duration
             if node.op.duration is None:
                 indices = [bit_indices[qarg] for qarg in node.qargs]
-                raise TranspilerError(
-                    f"Duration of {node.op.name} on qubits {indices} is not found."
-                )
+                if dag.has_calibration_for(node):
+                    node.op.duration = dag.calibrations[node.op.name][
+                        (tuple(indices), tuple(float(p) for p in node.op.params))
+                    ].duration
+
+                if node.op.duration is None:
+                    raise TranspilerError(
+                        f"Duration of {node.op.name} on qubits {indices} is not found."
+                    )
             if isinstance(node.op.duration, ParameterExpression):
                 indices = [bit_indices[qarg] for qarg in node.qargs]
                 raise TranspilerError(