| { |
| "schema_version": 2, |
| "model_api": 1, |
| "name": "backflip", |
| "kind": "episodic", |
| "obs_len": 61, |
| "action_len": 14, |
| "action_scale": 1.0, |
| "entry_pose": "standing", |
| "duration_s": 0.3, |
| "description": "Backflip from a stand (head-spring style) and land on its feet; starts when twist[0] goes to 1. SIM ONLY.", |
| "command": { |
| "encoding": "constant", |
| "idle": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "twist": [ |
| "start switch: 1 for ~0.2-0.5 s starts the flip, then 0 while it flies and lands (install with --command 1,0,0)", |
| "unused (0)", |
| "unused (0)" |
| ], |
| "head": "unused (zeros)", |
| "body": "unused (zeros)" |
| }, |
| "robot": { |
| "model": "microduck", |
| "hw_rev": 1, |
| "servos": "xl330", |
| "control_hz": 50 |
| }, |
| "training": { |
| "task_id": "Mjlab-Backflip-Flat-MicroDuck", |
| "repo": "pollen-robotics/microduck_rl", |
| "commit": "4757d6ae", |
| "branch": "flamingo", |
| "dirty": true, |
| "run": "local 2026-10-26_15-47-20_run2, model_2999 (3000 it, 4096 envs, RTX 5080, 1h34m)", |
| "checkpoint": 2999 |
| }, |
| "eval": { |
| "sim_proxy": "mjlab training env with full domain randomization (64 standing starts per row), plus duck-sim (real robotd vs MuJoCo body)", |
| "training_env": "switch at 1.0 s for 0.3 s: 100% full flip and land; at 0.3 s / 2.5 s: 100%; window 0.2 / 0.5 s: 100% / 98%; switch at the first step: 88%; switch never on: 0 flips, 100% standing", |
| "duck_sim": "robot do backflip x30 with --command 1,0,0 --hold 0.3 --unwind 2.5: 29/30 full flips, 30/30 ended standing, no fall/limp verdicts, 1.00x real time", |
| "peak_impact_m_s2": 26, |
| "known_limits": "head-spring: the head pushes off the floor for ~0.1-0.3 s every flip; ~2.6 g landing peaks; never tested on hardware" |
| } |
| } |
|
|
