---
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).