roller-es2
Roller sprint, race-only. Round 2 of our evolution-strategies fine-tune (continued from stefo0/microduck-roller-es1; base: our PPO policy stefo0/microduck-roller-warm1, itself a resume of the Pollen reference). OpenAI-ES, antithetic pairs, rank shaping, Adam; all actor weights, normaliser frozen; 2 x 300 generations x 64 candidates, against the Arena roller-sprint simulator. Searched on start seeds 101-400, validated on held-out seeds 1001-1030 (1.747 s); board seeds 1-5 never searched on. Simulation only; tuned to nominal Arena physics, not for a real robot.
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> stefo0/microduck-roller-es2
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:
main - commit:
423289dc8
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