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tags:
- microduck
- robotics
- reinforcement-learning
- onnx
library_name: microduck
pipeline_tag: robotics
---
# v1
Sprint 2m policy v1
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> nxdev-org/microduck-v1
```
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`
- **branch**: `challenge-recipe-publishing`
- **commit**: `8d0dbc94c`
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