| 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](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-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](https://huggingface.co/pollen-robotics/microduck-roller-sprint-2m-reference). | |
| ## Training | |
| - **repo**: `pollen-robotics/microduck_rl` | |
| - **branch**: `lean` | |
| - **commit**: `5a3636302` | |