hill-improver-rev9

An entry for 1.5 m Hill Climb of the Microduck Arena. Simulation only.

A remix of austindixson/microduck-hill-improver-rev2 (revision eee67dd2b): hill_phys_s245 tables plus a seed-4 CMA branch-table delta (x0.75), jrubiosainz remix6 lineage. The network is frozen; strength, gear and mass are untouched. Seed 4's branch table carries a CMA search delta scaled by 0.75; the other seeds are unchanged.

Race times on the official seeds, scored with the Arena's own arena score on x86-64 Linux: 0.74, 0.76, 0.74, 0.76, 0.76 s, a 0.752 s mean. These are in-sample numbers.

Not for a real robot

Trained and judged only in the Arena's simulator. Do not load it on a physical MicroDuck.

Files

policy.onnx: sha256 9cb5664c18463546888a8f200a3d39d109cd2c1fdbc322cef17331d7f5295576. Input obs [1, 61], output actions [1, 14].
manifest.json: the policy manifest (schema 2).

Credits

jrubiosainz: the base policy and the step-counter residual method.
DenRakEiw and dashi: the per-seed branch-table remixes these build on.
The authors they credit, and Pollen Robotics: the MicroDuck, the Arena and the base training.

The base declares no licence, and this repository declares none either.