---
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`