---
tags:
- microduck
- robotics
- reinforcement-learning
- onnx
library_name: microduck
pipeline_tag: robotics
---

# backroll

Backward roll: rolls over the back and stands up. Sim-only, not yet tested on a real robot - try on a soft surface first.

A **episodic** policy for the [microduck](https://github.com/pollen-robotics/microduck) (61-D observation, 14 actions, 50 Hz). Runs 4.0 s and returns itself to a standing pose.

## Run it on a robot

```bash
sudo robotctl policy add backroll IgaPro/microduck-backroll
robotctl robot do backroll
```

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).

## Training

- **task_id**: `Mjlab-Backroll-Flat-MicroDuck`
- **repo**: `pollen-robotics/microduck_rl`
- **branch**: `backroll`
- **commit**: `b02fdea49`
- exported from a checkout with uncommitted changes