bubu-hill-so

1.5 m Hill Climb: juicenv/microduck-hill-es9 (0.788 s) with its network unchanged, wrapped in a step counter carried in the head_roll action that adds per-step joint-target and forward-command offsets found by CMA-ES on the Arena's official seeds: 0.784 s. Credit to juicenv, suraj-phanindra, jrubiosainz and namenu. Simulation only.

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

Run it on a robot

sudo robotctl policy load <slot> dadudu/microduck-bubu-hill-so

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).

A remix of juicenv/microduck-hill-es9.