tug-pool8-1350
Mjlab-TugOfWar-MicroDuck
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> AndoShy/microduck-tug-pool8-1350
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
- task_id:
Mjlab-TugOfWar-MicroDuck - repo:
git@github.com:pollen-robotics/microduck-challenges - branch:
andoshy-tug - commit:
9d0e7ad0b - checkpoint:
1350 - seed:
1 - base:
mjlab-microduck 0.1.0 @ 1efd853be - started:
2026-10-28T00:09:25Z - exported from a checkout with uncommitted changes
Reproduce
Same code, same uv.lock, same command, same seed. Training it again yields a comparable policy, not the same weights: GPU reinforcement learning is not bit-reproducible across machines.
git clone git@github.com:pollen-robotics/microduck-challenges
cd microduck-challenges
git checkout 9d0e7ad0b
uv sync
uv run train Mjlab-TugOfWar-MicroDuck --env.scene.num-envs 2048 --agent.max-iterations 400 --agent.seed 1 --agent.save-interval 25 --agent.logger tensorboard --agent.run-name pool8 --agent.algorithm.desired-kl 0.005 --agent.resume True --agent.load-run 2026-10-28_00-46-47_pool7 --agent.load-checkpoint model_1325.pt --env.actions.opponent.pool logs/pool/ref_t20-500.onnx,logs/pool/ref_t20-500.onnx,logs/pool/ref_t20-500.onnx,logs/pool/juicenv_puller6.onnx,logs/pool/juicenv_puller6.onnx,logs/pool/juicenv_puller6.onnx,logs/pool/juicenv_puller5.onnx,logs/pool/juicenv_puller5.onnx,logs/pool/juicenv_puller4.onnx,logs/pool/juicenv_puller3.onnx,logs/pool/rumezhak_leader3_h2h.onnx,logs/pool/rumezhak_leader3_h2h.onnx,logs/pool/rumezhak_leader2_h2h.onnx,logs/pool/jrubiosainz_remix1_h2h.onnx,logs/pool/greecree_super-v6_h2h.onnx,logs/pool/greecree_super-v6_h2h.onnx,logs/pool/pool7-1325.onnx,logs/pool/pool7-1325.onnx,logs/pool/pool6-1300.onnx,logs/pool/pool5-1250.onnx,logs/pool/pool4-1200.onnx,logs/pool/almuli_cup.onnx,logs/pool/leader_nico.onnx
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