strata-roller-pb4
Trained and judged in Strata on microduck-challenges' roller env, own lineage: PPO on race commands with the calm-skate shaping removed and a light upright term, then four rounds of ES on the Arena roller scorer.
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> namenu/microduck-arena
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).
Training
- repo:
pollen-robotics/microduck_rl
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