---
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`