juicenv/microduck-tug-puller1

tug-puller1

Tug of War: Nico-robot/microduck-tug-of-war warm-started and trained 50 PPO iterations against that same duck as the frozen opponent (microduck-challenges 4b675eb, Mjlab-TugOfWar-MicroDuck). No seed tables or fingerprints: one plain network. Fresh-seed head-to-head (20 bouts each): beat greecree tug-leader-v2, Nico-robot tug-of-war and the reference 20/20. Credit to Nico-robot.

A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot.

Run it on a robot

sudo robotctl policy load <slot> juicenv/microduck-tug-puller1

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 Nico-robot/microduck-tug-of-war.

Training

• repo: pollen-robotics/microduck_rl
• branch: main
• commit: 4b675ebf4