publish roller-es12: perpetual, 2b2331f3-1.260.onnx

README.md

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+---
+tags:
+- microduck
+- robotics
+- reinforcement-learning
+- onnx
+library_name: microduck
+pipeline_tag: robotics
+base_model: pollen-robotics/microduck-roller-sprint-2m-reference
+base_model_relation: finetune
+---
+
+# roller-es12
+
+2 m Roller Sprint skater: Pollen roller reference fine-tuned by evolution strategies on the Arena roller scorer, searched on x86 (twelfth round).
+
+A **perpetual** policy for the [microduck](https://github.com/pollen-robotics/microduck) (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
+
+## Run it on a robot
+
+```bash
+sudo robotctl policy load <slot> juicenv/microduck-roller-es12
+```
+
+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 [pollen-robotics/microduck-roller-sprint-2m-reference](https://huggingface.co/pollen-robotics/microduck-roller-sprint-2m-reference).
+
+## Training
+
+- **repo**: `pollen-robotics/microduck_rl`
+- **branch**: `lean`
+- **commit**: `5a3636302`

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": [
+      "rollers"
+    ]
+  },
+  "name": "roller-es12",
+  "kind": "perpetual",
+  "entry_pose": "standing",
+  "description": "2 m Roller Sprint skater: Pollen roller reference fine-tuned by evolution strategies on the Arena roller scorer, searched on x86 (twelfth round).",
+  "command": {
+    "encoding": "constant",
+    "idle": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "twist": "unused (zeros)",
+    "head": "unused (zeros)",
+    "body": "unused (zeros)"
+  },
+  "duration_s": null,
+  "training": {
+    "repo": "pollen-robotics/microduck_rl",
+    "commit": "5a3636302",
+    "branch": "lean",
+    "dirty": false,
+    "source_file": "2b2331f3-1.260.onnx"
+  },
+  "arena": {
+    "event": "roller-sprint-2m"
+  }
+}

policy.onnx

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a462cee14df0cc65895b675def6647551ac14060b1b4874361345e004142cd
+size 793753