Release Vivy-R-Robotics-Micro-Edge (.vcore): ultra-compact (93.6 KB), flexible (4 morphologies, 8 skills) & fast (0.05 ms @ 50 Hz) for constrained hardware
5fed562 verified | { | |
| "cross_compile_targets": [ | |
| { | |
| "rust_target_triple": "aarch64-unknown-linux-gnu", | |
| "architecture": "ARM64 (AArch64 NEON)", | |
| "shared_library": "libvivy_core.so", | |
| "target_boards": [ | |
| "Radxa Zero 3W (RK3566)", | |
| "Raspberry Pi Zero 2 W (64-bit)", | |
| "NVIDIA Jetson Orin Nano" | |
| ], | |
| "min_ram_kb": 128 | |
| }, | |
| { | |
| "rust_target_triple": "armv7-unknown-linux-gnueabihf", | |
| "architecture": "ARMv7-A Hard-Float", | |
| "shared_library": "libvivy_core.so", | |
| "target_boards": [ | |
| "Raspberry Pi Zero 2 W (32-bit)", | |
| "BeagleBone AI / STM32MP1" | |
| ], | |
| "min_ram_kb": 128 | |
| }, | |
| { | |
| "rust_target_triple": "riscv64gc-unknown-linux-gnu", | |
| "architecture": "RISC-V 64-bit (RV64GC)", | |
| "shared_library": "libvivy_core.so", | |
| "target_boards": [ | |
| "Milk-V Duo S (SG2000)", | |
| "LicheeRV Nano" | |
| ], | |
| "min_ram_kb": 128 | |
| }, | |
| { | |
| "rust_target_triple": "x86_64-unknown-linux-gnu", | |
| "architecture": "x86_64 Linux POSIX", | |
| "shared_library": "libvivy_core.so", | |
| "target_boards": [ | |
| "Intel N100 Mini-SBC", | |
| "Linux Research Laptops", | |
| "Kaggle/Docker Simulation" | |
| ], | |
| "min_ram_kb": 128 | |
| }, | |
| { | |
| "rust_target_triple": "x86_64-pc-windows-gnu", | |
| "architecture": "x86_64 Windows Native", | |
| "shared_library": "vivy_core.dll", | |
| "target_boards": [ | |
| "Windows Research Laptops", | |
| "Edge Industrial Mini-PCs" | |
| ], | |
| "min_ram_kb": 128 | |
| } | |
| ], | |
| "supported_morphologies": [ | |
| { | |
| "morphology_id": "microduck_biped_14dof", | |
| "name": "Microduck 14-DoF Biped (+1 Mouth Servo)", | |
| "obs_dim": 61, | |
| "action_dim": 14, | |
| "physical_servos": 15, | |
| "control_hz": 50, | |
| "typical_mass_kg": 0.8, | |
| "target_hardware": "Radxa Zero 3W (RK3566 1 GB RAM) + 15x Dynamixel XL330" | |
| }, | |
| { | |
| "morphology_id": "mini_quadruped_12dof", | |
| "name": "Agile Mini-Quadruped 12-DoF (3-DoF x 4 Legs)", | |
| "obs_dim": 48, | |
| "action_dim": 12, | |
| "physical_servos": 12, | |
| "control_hz": 50, | |
| "typical_mass_kg": 1.25, | |
| "target_hardware": "Raspberry Pi Zero 2 W (512 MB RAM) / CAN-FD Servo Bus" | |
| }, | |
| { | |
| "morphology_id": "embedded_arm_6dof", | |
| "name": "Lightweight 6-DoF Embedded Manipulator Arm", | |
| "obs_dim": 28, | |
| "action_dim": 6, | |
| "physical_servos": 7, | |
| "control_hz": 50, | |
| "typical_mass_kg": 0.65, | |
| "target_hardware": "Milk-V Duo S (RISC-V 512 MB RAM) / UART Bus" | |
| }, | |
| { | |
| "morphology_id": "compact_humanoid_23dof", | |
| "name": "Compact 23-DoF Agile Humanoid", | |
| "obs_dim": 88, | |
| "action_dim": 23, | |
| "physical_servos": 23, | |
| "control_hz": 50, | |
| "typical_mass_kg": 2.4, | |
| "target_hardware": "NVIDIA Jetson Orin Nano (4 GB) / RK3588S Edge SBC" | |
| } | |
| ], | |
| "embedded_target_boards": [ | |
| { | |
| "board_id": "rockchip_rk3566_radxa_zero_3w", | |
| "board_name": "Radxa Zero 3W (Rockchip RK3566 \u2014 Official Microduck Onboard Brain)", | |
| "cpu": "4x ARM Cortex-A55 @ 1.6 GHz (INTRA_THREADS=1)", | |
| "ram_mb": 1024, | |
| "npu_tops": 0.8, | |
| "control_loop_hz": 50, | |
| "tick_budget_ms": 20.0 | |
| }, | |
| { | |
| "board_id": "rpi_zero_2w_cortex_a53", | |
| "board_name": "Raspberry Pi Zero 2 W (BCM2710A1)", | |
| "cpu": "4x ARM Cortex-A53 @ 1.0 GHz (INTRA_THREADS=1)", | |
| "ram_mb": 512, | |
| "npu_tops": 0.0, | |
| "control_loop_hz": 50, | |
| "tick_budget_ms": 20.0 | |
| }, | |
| { | |
| "board_id": "nvidia_jetson_orin_nano_4gb", | |
| "board_name": "NVIDIA Jetson Orin Nano Developer Kit (Isaac Edge Tier)", | |
| "cpu": "6x ARM Cortex-A78AE @ 1.5 GHz", | |
| "ram_mb": 4096, | |
| "npu_tops": 20.0, | |
| "control_loop_hz": 50, | |
| "tick_budget_ms": 20.0 | |
| }, | |
| { | |
| "board_id": "riscv_sg2000_milk_v_duo_s", | |
| "board_name": "Milk-V Duo S (SOPHGO SG2000 RISC-V / ARM Ultra-Light Companion)", | |
| "cpu": "1x C906 RISC-V @ 1.0 GHz", | |
| "ram_mb": 512, | |
| "npu_tops": 0.5, | |
| "control_loop_hz": 50, | |
| "tick_budget_ms": 20.0 | |
| } | |
| ] | |
| } | |