metadata
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-es2
2 m Roller Sprint skater: Pollen's roller reference fine-tuned by evolution strategies on the Arena's own roller scorer (x86-verified).
A perpetual policy for the 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
sudo robotctl policy load <slot> juicenv/microduck-roller-es2
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.
Training
- repo:
pollen-robotics/microduck_rl - branch:
lean - commit:
5a3636302