| --- |
| tags: [microduck, reinforcement-learning, mjlab, rsl-rl] |
| --- |
| |
| # pollen-robotics/microduck-training |
|
|
| Training checkpoints of [pollen-robotics/microduck_rl](https://github.com/pollen-robotics/microduck_rl) policies (full rsl_rl `.pt`: weights, normalizers, optimizer, curriculum step counter), to resume or warm-start training from. The deployable ONNX policies live in their own repos; each bundle below records which ONNX it was exported to. |
| |
| ```bash |
| uv run train <task> --init-checkpoint hf://pollen-robotics/microduck-training/bundles/<experiment>/<run>_<iter> |
| ``` |
| |
| | bundle | task | exported to | code | |
| |---|---|---|---| |
| | [`ball_kick_left/6bamlid8_2500`](bundles/ball_kick_left/6bamlid8_2500) | `Mjlab-BallKick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/ball_kick_left.onnx` | `8c7665695` | |
| | [`ball_kick_right/wy2x3p87_2000`](bundles/ball_kick_right/wy2x3p87_2000) | `Mjlab-BallKick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/ball_kick_right.onnx` | `8c7665695` | |
| | [`ground_pick/4ly1pcxj_2750`](bundles/ground_pick/4ly1pcxj_2750) | `Mjlab-GroundPick-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_ground_pick.onnx` | `f93771b30` | |
| | [`microduck_roulade/blrqbcit_750`](bundles/microduck_roulade/blrqbcit_750) | `Mjlab-Roulade-Flat-MicroDuck` | `pollen-robotics/microduck-policies/roulade.onnx` | `?` | |
| | [`microduck_sitstand/vfhxgrum_2250`](bundles/microduck_sitstand/vfhxgrum_2250) | `Mjlab-SitStand-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_sitstand.onnx` | `77ffadf43` | |
| | [`microduck_stand/69u48n8l_9750`](bundles/microduck_stand/69u48n8l_9750) | `Mjlab-StandUp-Flat-MicroDuck` | `pollen-robotics/microduck-policies/alpha_stand.onnx` | `85105f4b1` | |
| | [`roller_crouch/92d20zda_500`](bundles/roller_crouch/92d20zda_500) | `Mjlab-RollerCrouch-Flat-MicroDuck` | `pollen-robotics/microduck-policies/roller_crouch.onnx` | `1ae24ae8f` | |
| | [`velocity2/441tzs6d_3750`](bundles/velocity2/441tzs6d_3750) | `Mjlab-Velocity2-Rough-Backlash-MicroDuck` | `pollen-robotics/microduck-policies/alpha_walking.onnx` | `2f1f76bc6` | |
| | [`velstand/0045i2si_2749`](bundles/velstand/0045i2si_2749) | `Mjlab-VelStand-Rough-Backlash-MicroDuck` | `pollen-robotics/microduck-policies/velstand.onnx` | `375077676` | |
| |
| Written by `uv run share-training` (see `docs/training_checkpoints.md` in the code repo). |
| |
