| tags: | |
| - microduck | |
| - robotics | |
| - reinforcement-learning | |
| - onnx | |
| library_name: microduck | |
| pipeline_tag: robotics | |
| base_model: Nico-robot/microduck-tug-of-war | |
| base_model_relation: finetune | |
| # tug-puller3 | |
| Tug of War puller, fine-tuned from Nico-robot/microduck-tug-of-war (via our tug-puller1 and tug-puller2) against a league of frozen opponent ducks, each bout drawing one. Plain network, no seed tables. | |
| A **perpetual** policy for the [microduck](https://github.com/pollen-robotics/microduck) (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot. | |
| ## Run it on a robot | |
| ```bash | |
| sudo robotctl policy load <slot> juicenv/microduck-tug-puller3 | |
| ``` | |
| 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](https://huggingface.co/Nico-robot/microduck-tug-of-war). | |
| ## Training | |
| - **repo**: `pollen-robotics/microduck_rl` | |
| - **branch**: `main` | |
| - **commit**: `4b675ebf4` | |