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microduck-beak-throw
File size: 1,843 Bytes
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{
  "bundle": "beak_throw_hw_v1_20260901",
  "created_date": "2026-09-01",
  "status": "experimental_supervised_empty_beak_first",
  "training": {
    "provider": "Hugging Face Jobs",
    "job_id": "6a972c0b21c5aa7c8364c3c9",
    "model_repository": "q2p/beak-hardware-straight-v3-20260901-a100",
    "run": "2026-09-01_19-50-07_beak-hardware-straight-v3-20260901-a100",
    "selected_checkpoint": "model_2150.pt",
    "final_checkpoint_evaluated_but_not_selected": "model_2249.pt",
    "source_base_git_sha": "d424a0c899f6b33cbd3daeb279913134349c0b63",
    "source_snapshot": "src-20260901-154822.tar.gz"
  },
  "runtime": {
    "repository": "pollen-robotics/microduck",
    "patch_base_git_sha": "590b986bd8c0d50ae02cb3ea2f59c463b6828168",
    "throw_period_seconds": 2.4,
    "action_scale": 1.0,
    "target_clamp_required": true,
    "stand_handoff_seconds": 2.4,
    "post_handoff_evaluation_seconds": 2.0
  },
  "policy": {
    "file": "beak_throw.onnx",
    "sha256": "8638bbd29b672d84bcd426b02fa49eb6224ab57b29f5556b4003f3052bf5cecd",
    "input_name": "obs",
    "input_shape": [1, 61],
    "output_name": "actions",
    "output_shape": [1, 14]
  },
  "stand_policy": {
    "file": "alpha_stand.onnx",
    "sha256": "1569268713e40deea795dd2922dba50d3621e15a872855408b6b1b125b1c094b"
  },
  "mouth": {
    "policy_controlled": false,
    "hold_degrees": 20.0,
    "open_degrees": 30.0,
    "opening_phase_start": 0.30,
    "opening_phase_end": 0.34
  },
  "projectile": {
    "simulated_diameter_mm": 24.0,
    "simulated_mass_g": 3.0
  },
  "evaluation": {
    "episodes": 50,
    "valid_and_landed": 50,
    "carry_and_lateral_passed": 50,
    "strict_raw_output_gate_passed": 0,
    "median_carry_m": 0.525,
    "median_lateral_m": -0.113,
    "median_final_tilt_deg": 0.376,
    "median_raw_target_limit_excess_rad": 0.751
  }
}