| --- |
| language: |
| - en |
| - ko |
| tags: |
| - robotics |
| - reinforcement-learning |
| - mujoco |
| - onnx |
| - humanoid |
| - bipedal |
| license: mit |
| pipeline_tag: robotics |
| --- |
| |
| # 🦆 MicroDuck: Bipedal Robot Reinforcement Learning Policies & 3D Viewer |
|
|
| [](https://huggingface.co/spaces/kyoungsim/microduck-viewer) |
|
|
| This repository contains pre-trained Deep Reinforcement Learning (RL) policy models, MuJoCo simulation assets, and the interactive 3D Web Viewer for the **MicroDuck** small bipedal robot. |
|
|
| ### 🌐 Live Interactive 3D Demo |
| 👉 **[Open MicroDuck 3D Web Viewer](https://huggingface.co/spaces/kyoungsim/microduck-viewer)** |
| *(Play with the robot directly in your browser: forward walking, duck waddle, and physical soccer ball kicking!)* |
|
|
| --- |
|
|
| ## 📦 Repository Contents |
|
|
| - `index.html`: Standalone Interactive 3D Web Viewer & Soccer Simulator (Three.js) |
| - `policies/`: Pre-trained ONNX policy checkpoints |
| - `alpha_walking.onnx`: Dynamic omnidirectional bipedal locomotion |
| - `alpha_stand.onnx`: Stable posture hold and disturbance rejection |
| - `alpha_sitstand.onnx`: Continuous sit and stand-up transition |
| - `alpha_ground_pick.onnx`: Ground object picking motion |
| - `ball_kick_left.onnx`: Precision left foot ball kick |
| - `roulade.onnx`: Dynamic forward roll (roulade) motion recovery |
| - `robot/`: MuJoCo MJCF XML definitions and 3D mesh assets (`scene.xml`, `scene_ball.xml`, `robot_allcollisions.xml`, `assets/*.stl`) |
| - `infer_engine.py`: Standalone policy inference engine |
| - `app.py`: Offline simulation renderer |
|
|
| --- |
|
|
| ## 🎮 Features |
| - **3D Robot Anatomy**: Realistic duck bill, neck linkage, and webbed duck feet |
| - **Soccer Ball Mechanics**: Physical contact-based ball kicking & dribbling |
| - **Real-time Control**: Keyboard WASD/Arrow driving & motion toggling |
| - **Reinforcement Learning**: 50 Hz control frequency trained with MuJoCo |
|
|
| ## 🚀 Quick Start |
| ```bash |
| pip install mujoco onnxruntime numpy imageio |
| ``` |
|
|
