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README.md

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+---
+tags:
+- microduck
+- microduck-policy
+- robotics
+- onnx
+library_name: microduck
+pipeline_tag: robotics
+base_model: suraj-phanindra/microduck-sprint-hc5-aifund
+base_model_relation: finetune
+---
+
+# dfreq
+
+A neural-feedback policy for the Microduck Arena **2 m Sprint**, published by **djduecaster**. This is the V45 physical-leg-adapter version of our 0.856-second local result, not a new speed record.
+
+## Local verification
+
+On 25 October 2026, the unchanged artifact was checked with the pinned official Arena CPU evaluator (runner version 4):
+
+- Mean finish time: **0.856 s**, **5/5 finishes**, selected command **1.15 m/s**.
+- Individual times: **0.86, 0.86, 0.86, 0.86, 0.84 s**.
+- Verification covered the complete official 21-command scan and 12 additional finalist races. A separate five-start replay exactly matched the previously saved observations, actions, race traces and settling traces.
+- These five starts were used during optimization. This is an in-sample result, **not a held-out robustness claim**. Most other commanded speeds failed in the scan; this is a specialized sprint policy, not a generally reliable walker.
+- **Local timing is not a server leaderboard result.** The Space evaluates the submitted revision independently, and hardware/software differences can change the outcome.
+
+## Controller and provenance
+
+Input: the standard 61-dimensional observation, including actual previous actions; output: 14 joint-position actions, at 50 Hz. Observation normalization is included. Runtime control uses neural feedback and a physical-state leg adapter; it contains no explicit clock counter, seed-ID input, seed-fingerprint selector or trajectory lookup table.
+
+The graph retains the frozen [hc5 base](https://huggingface.co/suraj-phanindra/microduck-sprint-hc5-aifund/tree/c0c2897894cbab30a74a16e58cc93603dcfe581f), adds our trained residual, and adds a small physical-state adapter affecting knee/ankle outputs. The residual's training lineage used sanitized outputs from [game-sprinter-remix4](https://huggingface.co/jrubiosainz/microduck-game-sprinter-remix4/tree/175eba5581c9cbc038588ff1a1f406afc2e3a446). That teacher uses clock/seed-specific mechanisms; **those mechanisms are not present in this deployed graph**. Subsequent residual/adapter optimization used native Arena outcomes on the original five starts.
+
+Credit: **suraj-phanindra** (hc5), **juicenv** and **namenu** (base lineage), **jrubiosainz**, **dashi** and **Muhammadsafi** (teacher lineage), and **Pollen Robotics** (robot, training ecosystem and Arena).
+
+## Artifact and limitations
+
+`policy.onnx`: **1,137,169 bytes**  
+SHA256: `4aa8b27e4e02fbe9dcea1cae2d07f9505b51a62418dad853d2ff55e6a924a243`
+
+**Simulation only. No physical-robot validation or safety claim.** No training code or external runtime helpers are required to load this ONNX; no claim is made that all training code is published here.
+
+The inspected upstream model repositories do not declare standalone model licenses. This repository does **not** relicense inherited weights as MIT, Apache, or another open-source license. Review the linked upstream terms and [Hugging Face Terms of Service](https://huggingface.co/terms-of-service), including their public-repository provisions, before reuse. A general off-platform redistribution license is not asserted.

manifest.json

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+{
+  "schema_version": 2,
+  "model_api": 1,
+  "obs_len": 61,
+  "action_len": 14,
+  "robot": {
+    "model": "microduck",
+    "hw_rev": 1,
+    "servos": "xl330",
+    "control_hz": 50,
+    "accessories": []
+  },
+  "name": "dfreq",
+  "kind": "perpetual",
+  "entry_pose": "standing",
+  "description": "Simulation-only neural-feedback 2 m sprinter: frozen hc5 plus trained residual and physical-state knee/ankle adapter. Local full official evaluator mean 0.856 s,5/5 on original optimization starts; not a server or held-out robustness result. No runtime clock/seed selector/trajectory table.",
+  "duration_s": null,
+  "arena": {
+    "event": "sprint-2m"
+  },
+  "artifact": {
+    "file": "policy.onnx",
+    "bytes": 1137169,
+    "sha256": "4aa8b27e4e02fbe9dcea1cae2d07f9505b51a62418dad853d2ff55e6a924a243"
+  },
+  "provenance": {
+    "base_model": "suraj-phanindra/microduck-sprint-hc5-aifund",
+    "base_revision": "c0c2897894cbab30a74a16e58cc93603dcfe581f",
+    "teacher_training_only": "jrubiosainz/microduck-game-sprinter-remix4",
+    "teacher_revision": "175eba5581c9cbc038588ff1a1f406afc2e3a446",
+    "owned_variant": "V45 physical-leg adapter",
+    "teacher_clock_seed_mechanisms_present_at_runtime": false
+  },
+  "local_evaluation": {
+    "date": "2026-10-25",
+    "runner_version": 4,
+    "mean_finish_time_s": 0.856,
+    "seeds_finished": 5,
+    "seeds_total": 5,
+    "command_vx": 1.15,
+    "per_seed_times_s": [
+      0.86,
+      0.86,
+      0.86,
+      0.86,
+      0.84
+    ],
+    "full_official_sweep_races": 33,
+    "independent_exact_repeat_races": 5,
+    "original_seeds_used_for_optimization": true,
+    "server_submission_verified": false,
+    "fresh_seed_robustness_claim": false
+  },
+  "rights_notice": "No standalone license is asserted for inherited weights; see upstream repositories and Hugging Face public-repository terms. No general off-platform license asserted."
+}

policy.onnx

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+oid sha256:4aa8b27e4e02fbe9dcea1cae2d07f9505b51a62418dad853d2ff55e6a924a243
+size 1137169