| tags: | |
| - microduck | |
| - robotics | |
| - reinforcement-learning | |
| - onnx | |
| - microduck-slot:walk | |
| library_name: microduck | |
| pipeline_tag: robotics | |
| # velstand_improve_standup | |
| velstand get-up fix: swing-foot clearance + no side freeze (dk50vhok@5000) | |
| 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 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` | |