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tags:
- microduck
- robotics
- reinforcement-learning
- onnx
- microduck-slot:walk
library_name: microduck
pipeline_tag: robotics
---
# walking-full
MicroDuck walking_full policy, 4/5 finishes at 0.70 m/s
A **perpetual** policy for the [microduck](https://github.com/pollen-robotics/microduck) (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait for the `walk` slot.
## Run it on a robot
```bash
sudo robotctl policy load walk SusanSS/microduck-walking-full
```
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
- **repo**: `pollen-robotics/microduck_rl`
- **branch**: `main`
- **commit**: `9aaec6db4`
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