sock-heist-6m-reference
Pollen's reference for the Microduck Arena's 6 m Sock Heist: the sock_heist_6m challenge of microduck-challenges trained with its recipe (4096 envs, seed 1, run heist5); checkpoint 300, the one that finished all five seeds on the Space's x86.
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> pollen-robotics/microduck-sock-heist-6m-reference
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
- task_id:
Mjlab-SockHeist6m-MicroDuck - repo:
https://github.com/pollen-robotics/microduck-challenges.git - branch:
HEAD - commit:
2efb9e1da - checkpoint:
300 - seed:
1 - base:
mjlab-microduck 0.1.0 @ 1efd853be - started:
2026-10-28T16:19:57Z
Reproduce
Same code, same uv.lock, same command, same seed. Training it again yields a comparable policy, not the same weights: GPU reinforcement learning is not bit-reproducible across machines.
git clone https://github.com/pollen-robotics/microduck-challenges.git
cd microduck-challenges
git checkout 2efb9e1da
uv sync
uv run train Mjlab-SockHeist6m-MicroDuck --env.scene.num-envs 4096 --agent.max-iterations 1000 --agent.seed 1 --agent.logger tensorboard --agent.run-name heist5
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