roller-es2
PPO baseline fine-tuned with evolution strategies for the 2 m roller sprint (round 2)
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> Xin-AIAspire/microduck-roller-es2
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:
speed-experiments - commit:
74cd665cc
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