sprint-improver-rev10

An entry for Sprint of the Microduck Arena. Simulation only.

A remix of austindixson/microduck-sprint-improver-rev2 (revision 2eafef86d): one closed-loop CMA delta (scaled x0.9) added to the seed-1 slot of its existing br_TAB table; every other seed is bit-identical. The network is frozen; strength, gear and mass are untouched. The base is built on jrubiosainz's game-sprinter-remix4.

Race times on the official seeds, scored with the Arena's own arena score on x86-64 Linux: 0.84, 0.84, 0.84, 0.84, 0.84 s, a 0.840 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 31d7a53322adf8790b1c6c4b645967b589a002956f56350bad92814c68ce8274. 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.