| --- |
| pipeline_tag: robotics |
| library_name: microduck |
| tags: |
| - robotics |
| - microduck |
| - onnx |
| - hill-climb |
| base_model: pollen-robotics/microduck-hill-climb-1m5-reference |
| base_model_relation: finetune |
| --- |
| |
| # dfreq-hill — reliable posture adapter, local 3.889 s |
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| Simulation-only event-specialized controller. Publication is distinct from Arena submission; results below are local evaluation. |
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| The unchanged current official runner5 evaluated all18 command-grid speeds on seed1, then the best three across five starts. Selected .60m/s: 3.920,3.865,3.915,3.870,3.875s (mean3.889), 5/5 finishes. The exact pinned own public baseline reproduced5.836s; improvement33.36%. This is not podium pace (observed third-place threshold .739s), and local results are not server results. |
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| Own base: djduecaster/dfreq-hill@e070cbfbfb8a631a8065cc3c35b8eb1d73a634f7. Upstream Pollen reference: pollen-robotics/microduck-hill-climb-1m5-reference@d319208d92896353f581be754f6325d01f5e3732. All14 baseline initializer protobufs remain byte-identical. No neural training or fine-tuning. The inherited training field describes Pollen's training, not this search. |
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| ## Change and scope |
| Eight fixed parameters transform forward command and projected gravity and add symmetric hip/knee/ankle, hiproll and neck/head residuals. Exact parameters are included in manifest.json. 281 parameter candidates, 562 bouts on two design seeds1,3. Memoryless61-observation→14-action ONNX; no runtime seed, clock, hidden simulation state or physics changes. Actual prior-action history retained. |
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| The full command sweep includes failures at other commands; not an all-speed success claim. Zero or negative commanded velocity is still mapped positive by the inherited calibration, so idle/braking and real-robot safety are NOT validated. |
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| ## Independent evidence |
| Exported ONNX matched Python adapter observations, actions and timed traces bit-for-bit across all five selected starts. The saved settle arrays were not included in that equality assertion. Twenty freshly chosen resets after optimization:20/20 finishes, mean3.89225s (3.825–4.075), versus baseline20/20 mean5.831s; faster in every paired case. local-FRESH20.json is the fresh-set evidence; local-HELDOUT.json overlaps historical tests and is only supplementary. |
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| Visual diagnostic collision-geometry contact sheet inspected across all five official starts: upright walking, no tumbling; maximum tilt8.53degrees. Lateral displacement reaches.289m within.4m half-lane, so drift remains a limitation. Render omits visual body meshes and hides wall rendering only, never physics. |
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| ## Reproduction and provenance |
| Official Space source revision f6072612b0e40ac613272f88818575b997e820b0; MuJoCo3.10.0, ONNX Runtime1.24.4, NumPy2.4.1. source-binding.json identifies a partial pinned evaluation-source restore; it is not a claim every website file was refreshed. Full research workspace retains source, meshes, trajectories, search rows and logs. |
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| Pollen's upstream weights are credited. No standalone OSS model license is asserted. Prior attributed Hugging Face service-scoped remix history is not a blanket redistribution grant. This update preserves the existing attributed Hugging Face service-scoped derivative lineage and does not relicense inherited weights. |
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| ## Expanded robustness check |
| 100 additional untouched resets:100/100 finishes, mean 3.88560s, range 3.800–4.200s. Faster speed-only variants were not promoted: 2.868s official variant finished only89/100 on this same reset set. |
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| This repository retains compact local evaluation evidence in files prefixed `local-`, exact deployed adapter parameters in `manifest.json`, upstream credit in `upstream-base-card.md`, and file hashes in `SHA256SUMS`. It is not a standalone research/runtime reproduction environment. No podium, physical-robot safety or all-speed reliability claim is made. |
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