| tags: | |
| - microduck | |
| - robotics | |
| - reinforcement-learning | |
| - onnx | |
| library_name: microduck | |
| pipeline_tag: robotics | |
| base_model: namenu/microduck-arena | |
| base_model_relation: finetune | |
| # roller-es21 | |
| 2 m Roller Sprint skater: namenu/microduck-arena (strata-roller-pb4, 0.960 s) fine-tuned by ES and an elitist hill climb on the Arena roller scorer, searched on x86 (0.948 s). Credit to namenu. | |
| 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-es21 | |
| ``` | |
| 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 [namenu/microduck-arena](https://huggingface.co/namenu/microduck-arena). | |
| ## Training | |
| - **repo**: `pollen-robotics/microduck_rl` | |
| - **branch**: `hannes-ft` | |
| - **commit**: `3c0598cae` | |