CWKAM/microduck-happy-duck

happy-duck

開心鴨 Happy Duck: 5 quick steps then 3 hops with 2 quacks (hop part from joanfox Happy Hop, Apache-2.0)

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> CWKAM/microduck-happy-duck

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).

A remix of joanfox/microduck-happy-hop.

Training

• repo: pollen-robotics/microduck_rl
• branch: main
• commit: 6ff40704a
• exported from a checkout with uncommitted changes