scrooge
Mjlab-HillClimb1m5-MicroDuck
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> DenRakEiw/microduck-scrooge
The observation normalizer is baked into policy.onnx; feed raw observations.
manifest.json follows schema 2 of the microduck policy manifest (docs/policy-manifest.md in the daemon repo).
A remix of pollen-robotics/microduck-hill-climb-1m5-reference.
Training
- task_id:
Mjlab-HillClimb1m5-MicroDuck - repo:
https://github.com/pollen-robotics/microduck-challenges - branch:
denrakeiw - commit:
f87b7fd6a - checkpoint:
1050 - seed:
1 - base:
mjlab-microduck 0.1.0 @ 8d0dbc94c - started:
2026-10-12T19:35:22Z
Reproduce
Same code, same uv.lock, same command, same seed. Training it again yields a comparable policy, not the same weights: GPU reinforcement learning is not bit-reproducible across machines.
git clone https://github.com/pollen-robotics/microduck-challenges
cd microduck-challenges
git checkout f87b7fd6a
uv sync
uv run train Mjlab-HillClimb1m5-MicroDuck --env.scene.num-envs 4096 --agent.max-iterations 100 --agent.save-interval 25 --agent.seed 1 --agent.logger tensorboard --agent.resume True --agent.load-run reference --agent.load-checkpoint model_1000.pt --agent.run-name scrooge
- Downloads last month
- 18