Datasets:

witcheer
/

microduck-skill-tree

@@ -27,7 +27,7 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset
 | 1 | walk | `Mjlab-Velocity-Flat-MicroDuck` | 4,000 | 58 min (0.88 s/it) | 0.15 m/s held for 12 s on a 0.30 m/s command, trunk 119 to 121 mm | [microduck-walk-flat](https://huggingface.co/witcheer/microduck-walk-flat) `@v1` |
 | 2 | get up | `Mjlab-StandUp-Flat-MicroDuck` | 25,000 (15k + 10k extension) | 407 min (0.98 s/it) | stands from sitting and from face down and holds; from flat on its back it freezes half-rolled, 0 of 2 takes | [microduck-standup](https://huggingface.co/witcheer/microduck-standup) |
 | 3 | sit and stand on command | `Mjlab-SitStand-Flat-MicroDuck` | 15,000 | 272 min (1.08 to 1.10 s/it) | stand at 116 mm, sit at 59 mm, switches in under 1 s in the takes | none: posture-flag policies are daemon-driven and not publishable through `uv run publish` |
-| 4 | walk on rough ground | `Mjlab-Velocity-Rough-MicroDuck` | 8,000 | 324 min (2.44 s/it) | upright for a 12 s take on flat ground; no rough-ground take recorded yet | [microduck-walk-rough](https://huggingface.co/witcheer/microduck-walk-rough) |
 | 5 | walk and recover in one policy | `Mjlab-VelStand-Flat-MicroDuck` | 20,000 | 326 min (0.98 s/it) | walks and holds 20 s from standing, catches a forward lean; does not get up from flat on its back, 0 of 3 | [microduck-walk-recover](https://huggingface.co/witcheer/microduck-walk-recover) `@v1` |
 | 6 | forward roll | `Mjlab-Roulade-Flat-MicroDuck` | 10,000 | 173 min (1.04 s/it) | 3 of 3 takes roll and finish standing: on its back at 0.8 s, upright at 1.0 s, 115 mm by 1.2 s | [microduck-roulade](https://huggingface.co/witcheer/microduck-roulade) |
 | 7 | right-foot ball kick | `Mjlab-BallKick-Flat-MicroDuck` | 10,000 | 161 min (0.97 s/it) | 3 of 3 takes kick and stay standing: the ball travels 1.03 to 1.13 m in the first second, trunk 100 to 123 mm over the 4.1 s logged, no resets; the policy never sees the ball (by design), so the ball has to sit at the right toe | [microduck-kick-right](https://huggingface.co/witcheer/microduck-kick-right) |

 | 1 | walk | `Mjlab-Velocity-Flat-MicroDuck` | 4,000 | 58 min (0.88 s/it) | 0.15 m/s held for 12 s on a 0.30 m/s command, trunk 119 to 121 mm | [microduck-walk-flat](https://huggingface.co/witcheer/microduck-walk-flat) `@v1` |
 | 2 | get up | `Mjlab-StandUp-Flat-MicroDuck` | 25,000 (15k + 10k extension) | 407 min (0.98 s/it) | stands from sitting and from face down and holds; from flat on its back it freezes half-rolled, 0 of 2 takes | [microduck-standup](https://huggingface.co/witcheer/microduck-standup) |
 | 3 | sit and stand on command | `Mjlab-SitStand-Flat-MicroDuck` | 15,000 | 272 min (1.08 to 1.10 s/it) | stand at 116 mm, sit at 59 mm, switches in under 1 s in the takes | none: posture-flag policies are daemon-driven and not publishable through `uv run publish` |
+| 4 | walk (rough-terrain task; the stock curriculum kept it on the easiest tier, flat in practice) | `Mjlab-Velocity-Rough-MicroDuck` | 8,000 | 324 min (2.44 s/it) | upright for a 12 s take on flat ground; no rough-ground take recorded yet | [microduck-walk-rough](https://huggingface.co/witcheer/microduck-walk-rough) |
 | 5 | walk and recover in one policy | `Mjlab-VelStand-Flat-MicroDuck` | 20,000 | 326 min (0.98 s/it) | walks and holds 20 s from standing, catches a forward lean; does not get up from flat on its back, 0 of 3 | [microduck-walk-recover](https://huggingface.co/witcheer/microduck-walk-recover) `@v1` |
 | 6 | forward roll | `Mjlab-Roulade-Flat-MicroDuck` | 10,000 | 173 min (1.04 s/it) | 3 of 3 takes roll and finish standing: on its back at 0.8 s, upright at 1.0 s, 115 mm by 1.2 s | [microduck-roulade](https://huggingface.co/witcheer/microduck-roulade) |
 | 7 | right-foot ball kick | `Mjlab-BallKick-Flat-MicroDuck` | 10,000 | 161 min (0.97 s/it) | 3 of 3 takes kick and stay standing: the ball travels 1.03 to 1.13 m in the first second, trunk 100 to 123 mm over the 4.1 s logged, no resets; the policy never sees the ball (by design), so the ball has to sit at the right toe | [microduck-kick-right](https://huggingface.co/witcheer/microduck-kick-right) |