metadata
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-puller4
Tug of War puller, fine-tuned from Nico-robot/microduck-tug-of-war (via our tug-puller1 to 3) against a league of frozen opponent ducks, each bout drawing one. Plain network, no seed tables.
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-puller4
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