velstand_improve_standup

velstand get-up fix: swing-foot clearance + no side freeze (dk50vhok@5000)

A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait for the walk slot.

Run it on a robot

sudo robotctl policy load walk apirrone/velstand_improve_standup

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-VelStand-Rough-Backlash-MicroDuck
• repo: pollen-robotics/microduck_rl
• branch: standup_foot_catch
• commit: 12cfed24d
• run: pollen-robotics/mjlab_microduck/dk50vhok
• checkpoint: 5000