---
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](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-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](https://huggingface.co/Nico-robot/microduck-tug-of-war).

## Training

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