bow v8: no floor contact, symmetric legs; English model card and manifest; new preview

README.md

@@ -1,44 +1,71 @@
 ---
 license: apache-2.0
-tags: [microduck, policy, bow]
+language: en
+tags: [microduck, policy, bow, reinforcement-learning, mujoco, onnx]
 ---
 
 # microduck-bow
 
 <video src="https://huggingface.co/AdsumSOK/microduck-bow/resolve/main/media/preview.mp4" controls autoplay muted loop width="640"></video>
 
-*Un cycle complet en simulation (mjlab / MuJoCo Warp, actionneurs BAM), 11 s.*
+*One full cycle in simulation (mjlab / MuJoCo Warp, BAM actuators), 11 s.*
 
-Révérence pour le Microduck (Pollen Robotics). Politique épisodique pilotée en phase (cycle 10 s, geste 6.1 s, coupure à 7 s),
-entraînée avec `pollen-robotics/microduck_rl` (tâche maison `Mjlab-Bow-Flat-MicroDuck`).
+A bow for the Microduck (Pollen Robotics). Episodic, phase-driven policy (10 s cycle, 6.1 s
+gesture, hand-back at 7 s), trained with `pollen-robotics/microduck_rl` on a custom task
+(`Mjlab-Bow-Flat-MicroDuck`).
 
-Geste : descente du bec jusqu'au sol, contact léger, relevé de 2 cm, tête à 85° à gauche et
-retour, plié des genoux, remontée.
+The gesture: the beak comes down to 2 cm above the floor without touching it, with the legs
+bending symmetrically during the descent; the head turns about 83° to the left and back; the
+knees bend; the duck stands back up.
 
-## Installation sur le robot
+## Installing on the robot
 
-Politique en encodage `phase` : elle se charge dans le slot `ground_pick` (le bouton du ground
-pick la déclenche), pas comme skill (`policy add` refuse les encodages non constants).
+This is a `phase`-encoded policy: it goes into the `ground_pick` slot (the ground-pick button
+triggers it), not into a skill (`policy add` refuses non-constant encodings).
 
 ```
 sudo robotctl policy load ground_pick <user>/microduck-bow
 ```
 
-Retour au ground pick officiel : `sudo robotctl policy reset ground_pick`.
+Back to the official ground pick: `sudo robotctl policy reset ground_pick`.
 
-Le daemon pilote la phase avec la période de `robotd.toml` et rend la main à φ = 0.7 (valeur du
-set officiel, non réglable). La politique est entraînée sur un cycle de 10 s dont le geste occupe
-les 6.1 premières secondes : avec `ground_pick_period = 10.0`, la coupure tombe à 7 s, après la
-remontée.
+The daemon drives the phase with the period set in `robotd.toml` and hands back at φ = 0.7 (the
+official set's value, not configurable). The policy is trained on a 10 s cycle whose gesture fills
+the first 6.1 s: with `ground_pick_period = 10.0`, the hand-back lands at 7 s, after the rise.
 
 ```
 sudo robotctl policy load ground_pick <user>/microduck-bow
-# puis dans /etc/robot/robotd.toml : ground_pick_period = 10.0
+# then in /etc/robot/robotd.toml: ground_pick_period = 10.0
 ```
 
-## Répétition en simulation
+## Rehearsal in simulation
+
+With the official walking and standing policies from `pollen-robotics/microduck-policies`
+(press G to trigger the bow):
 
 ```
 uv run scripts/infer_policy.py --walking alpha_walking.onnx --standing alpha_stand.onnx \
     --ground-pick policy.onnx --ground-pick-period 10.0 --ground-pick-end-phase 0.7 --new-cmd-obs
 ```
+
+## Evaluation (simulation)
+
+Headless rollout, 256 environments × 20 s, no pushes (mjlab 1.3.0, BAM XL330 actuator model):
+
+| Metric | Value |
+|---|---|
+| Falls | 0 % |
+| Beak contact with the floor | none (minimum height 1.8 cm, head/floor force ≤ 0.16 N) |
+| Clean hover (beak never below 1.5 cm, no contact force) | 90 % of cycles |
+| Left/right leg symmetry during the descent | 1.2° mean mirror error |
+| Head yaw reached | 83° |
+| Knee bend before the rise | 62° / 61° |
+| Trunk tilt at the lowest point | 33° |
+
+## Provenance
+
+Checkpoint `model_499.pt` of run `v8_hover_sym` (500 iterations, warm-started from the previous
+version). Version lineage: v1 → v2 (force cap, strict feet, sliding descent target) → v4
+(contact-force band) → v5 (no second contact) → v6 (knee bend) → v7 (10 s period for the daemon's
+0.7 cutoff) → v8 (no contact, symmetric legs). The ONNX graph embeds the observation normalizer
+(exported with `scripts/export.py`); the training checkpoint is not included.

manifest.json

@@ -15,7 +15,7 @@
   "chain": false,
   "entry_pose": "standing",
   "slot": "ground_pick",
-  "description": "Révérence : descend le bec jusqu'au sol (contact léger ~1.4 N), le décolle de 2 cm, tourne la tête de ~84° à gauche et revient, plie les genoux (~60°), puis se relève. Geste de 6.1 s sur un cycle de phase de 10 s ; le daemon rend la main à φ = 0.7 (7 s), après la remontée. À charger dans le slot ground_pick avec ground_pick_period = 10.0 dans robotd.toml, pas comme skill.",
+  "description": "Bow: lowers the beak to 2 cm above the floor WITHOUT touching it, legs symmetric during the descent, turns the head ~83° to the left and back, bends the knees (~62°), then stands back up. 6.1 s gesture on a 10 s phase cycle; the daemon hands back at φ = 0.7 (7 s), after the rise. Load into the ground_pick slot with ground_pick_period = 10.0 in robotd.toml, not as a skill.",
   "command": {
     "encoding": "phase",
     "slots": "twist.vx,twist.vy",
@@ -26,7 +26,7 @@
       0.0,
       0.0
     ],
-    "twist": "[cos 2πφ, sin 2πφ, 0], φ de 0 à 1 sur 10 s (segments : descente 0-0.15, contact 0.15-0.18, relevé 0.18-0.21, rotation 0.21-0.31, retour 0.31-0.41, plié 0.41-0.46, remontée 0.46-0.61, repos 0.61-1.0 ; coupure daemon à 0.7)",
+    "twist": "[cos 2πφ, sin 2πφ, 0], φ from 0 to 1 over 10 s (segments: descent 0-0.15, low hold 0.15-0.18, lift 0.18-0.21, head turn 0.21-0.31, head return 0.31-0.41, knee bend 0.41-0.46, rise 0.46-0.61, rest 0.61-1.0; daemon cutoff at 0.7)",
     "head": "unused (zeros)",
     "body": "unused (zeros)"
   },
@@ -36,22 +36,23 @@
     "commit": "b02fdea49",
     "branch": "develop",
     "dirty": true,
-    "run": "logs/rsl_rl/bow/2026-10-27_17-35-33_v7_resume (wandb offline, local)",
-    "checkpoint": 748,
-    "source_file": "model_748.pt",
-    "exported": "2026-10-27T16:50:00Z",
-    "lineage": "v6_resume/model_748 -> v7_period10 (warm start, période 10 s) -> v7_resume (250 it., yaw_std 0.12)"
+    "run": "logs/rsl_rl/bow/2026-10-28_12-35-32_v8_hover_sym (wandb offline, local)",
+    "checkpoint": 499,
+    "source_file": "model_499.pt",
+    "exported": "2026-10-28T12:45:00Z",
+    "lineage": "v7_resume/model_748 -> v8_hover_sym (500 it. warm start: hover at 2 cm without contact, symmetric legs). The tight-std resume (v8_resume) degraded the head turn and was not kept."
   },
   "eval": {
-    "sim": "mjlab 1.3.0 / MuJoCo Warp, BAM XL330, scripts/bow_eval.py, 256 envs x 20 s, sans poussées",
+    "sim": "mjlab 1.3.0 / MuJoCo Warp, BAM XL330, scripts/bow_eval.py, 256 envs x 20 s, no pushes",
     "falls": "0 %",
-    "beak_contact": "100 % des cycles, force moyenne 1.46 N (bande 0.3-2 N 94 % du temps)",
-    "head_yaw_max_deg": 83.8,
+    "beak_contact": "none: minimum beak height 1.8 cm (p10 1.5, p90 2.0), max head/floor force 0.16 N; clean hover on 90 % of cycles",
+    "leg_symmetry_descent_deg": 1.2,
+    "head_yaw_max_deg": 83.2,
     "knees_end_of_crouch_deg": [
-      60.7,
-      -59.0
+      62.0,
+      -60.8
     ],
-    "trunk_tilt_at_contact_deg": 36,
-    "note": "lignée v1 -> v2 (plafond force, pieds stricts, cible glissante) -> v4 (bande de force) -> v5 (sans second contact) -> v6 (plié des genoux) -> v7 (période 10 s pour la coupure du daemon à 0.7)"
+    "trunk_tilt_at_lowest_deg": 33,
+    "note": "lineage v1 -> v2 (force cap, strict feet, sliding target) -> v4 (force band) -> v5 (no second contact) -> v6 (knee bend) -> v7 (10 s period) -> v8 (no contact, symmetric legs)"
   }
 }

media/preview.mp4

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policy.onnx

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