Microduck skill tree (sim only)
Collection
Policies trained in simulation for a Pollen Robotics Microduck still on order, one level per skill, plus the training log. Sim only so far. • 9 items • Updated
walk-rough
Walking gait trained in the rough-terrain task (Mjlab-Velocity-Rough-MicroDuck), simulation only: 8,000 iterations, 4096 envs, 324 min on one RTX 5090. Each terrain patch in this task gets a random type (flat, stairs up to 1.5 cm, an uneven grid, a slope) and a random difficulty, so it trained on mixed rough ground. An earlier version of this card called it a flat-ground walker; that was our misreading of the terrain setup. Upright for a 12 s flat-ground take; no rough-ground take recorded yet. Not yet tested on a real Microduck.
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait for the walk slot.
Run it on a robot
sudo robotctl policy load walk witcheer/microduck-walk-rough
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:
develop - commit:
53b8971b6
- Downloads last month
- 24