3D Assets GLB 6 assets
Browse files 
mesh mesh | world stringclasses 6
values | description stringclasses 6
values | theme stringclasses 6
values | gravity float64 1.62 9.81 | bodies int64 24 40 | tasks int64 4 6 |
|---|---|---|---|---|---|---|
a_chocolate_factory_with_molten_chocolat | A working chocolate factory at duck scale: a sticky caramel spill across the tiles, two molten-chocolate channels steaming by the packing deck, and a red candy portcullis guarding the cooling room. | a chocolate factory with molten-chocolate channels and caramel-slick floors | 9.81 | 26 | 6 | |
a_circus_ring_with_a_sawdust_floor_a_tig | A big-top circus at duck scale: a sawdust floor around a red centre ring, a narrow plank up to the striped tightrope stage, giant balls, a flaming hoop and a lion's cage behind a steel portcullis. | a circus ring with a sawdust floor, a tightrope stage ramp and giant balls | 9.81 | 24 | 6 | |
a_frozen_lake_ice_fishing_village_where_ | A frozen-lake ice-fishing village: red and blue huts on glare ice, dark fishing holes, a wooden dock with a lookout ramp, and a smokehouse yard behind a sluice gate. | a frozen-lake ice-fishing village where the robot crosses glare ice between huts | 9.81 | 32 | 6 | |
a_hospital_corridor_with_wet_floor_zones | A bright hospital corridor with freshly mopped wet-floor zones under yellow caution signs, frosted-glass sliding doors opened by floor pads, supply carts to steer around, and rounds through the ward, the X-ray bay and the operating theatre. | a hospital corridor with wet-floor zones, sliding doors and supply carts | 9.81 | 40 | 6 | |
a_low_gravity_orbital_hab_module_with_ma | A low-gravity orbital habitat module: glowing hex magnetic floor tiles, a slick of spilled coolant, slowly drifting debris clouds, an airlock behind a pressure gate and a raised observation deck under the stars. | a low-gravity orbital hab module with magnetic floor tiles and floating-debris hazards | 1.62 | 24 | 6 | |
an_abandoned_mine_with_rubble_rail_track | A forgotten mine gallery: rails and ore carts on a gravel bed, rubble from a cave-in, a slick seep, a fenced-off open shaft and a caged lift behind a rusty portcullis. | an abandoned mine with rubble, rail tracks, a lift cage gate and ore carts | 9.81 | 27 | 4 |
Duck Worlds: six Kimi-K3-written MuJoCo worlds for Microduck
Six physically simulated worlds for Pollen Robotics' 25 cm Microduck biped. Each one was
written by Kimi-K3 as a Blender Python script against a small world API,
built headless in Blender and exported for MuJoCo. No image or image-to-3D model was involved. These are the six worlds
where a walking policy fine-tuned inside the world beat Pollen's stock walk on the world's own tasks; the fine-tuned
policies are in suvadityamuk/microduck-duck-worlds-policies.
| Folder | World | Gravity m/s² |
|---|---|---|
a_chocolate_factory_with_molten_chocolat |
Chocolate factory with molten-chocolate channels and caramel-slick floors | 9.81 |
a_hospital_corridor_with_wet_floor_zones |
Hospital corridor with wet-floor zones, sliding doors and supply carts | 9.81 |
a_low_gravity_orbital_hab_module_with_ma |
Low-gravity orbital hab module with magnetic floor tiles and floating-debris hazards | 1.62 |
a_circus_ring_with_a_sawdust_floor_a_tig |
Circus ring with a sawdust floor, a tightrope stage ramp and giant balls | 9.81 |
an_abandoned_mine_with_rubble_rail_track |
Abandoned mine with rubble, rail tracks, a lift cage gate and ore carts | 9.81 |
a_frozen_lake_ice_fishing_village_where_ |
Frozen-lake ice-fishing village where the robot crosses glare ice between huts | 9.81 |
Contents of each folder
scene.json: the world as built. Room, bodies and their collision geometry, materials with friction, gravity, goal and hazard zones, pressure plates and the gates they open, and the tasks (goto, gate, push, visit), each with a natural-language instruction and paraphrases. Tasks that failed the feasibility gate were removed.meshes/*.obj,textures/*.png: the geometry and texturesscene.jsonrefers to, exactly as used for the published training and evaluation.kimi_k3_script.py: the Blender script Kimi-K3 wrote. Rebuilding it reproduces the meshes and textures.
The robot itself is not included: it comes from Pollen's microduck_rl,
whose 3D models are CC BY-NC-SA 4.0.
Use
The Duck Worlds code repository assembles a world with the robot into MuJoCo, runs the tasks with a planner, and trains and evaluates walking policies in it. To place the worlds where its code expects them:
hf download suvadityamuk/microduck-duck-worlds --repo-type dataset --local-dir worlds_duck --include "*/*"
Licence
Apache-2.0.
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