duck-rock-2
A rock song of our own, and now our singer does her own acrobatics: a forward roll, kicks, the plumps and a deep bow, learned from Pollen's open policies. Guest tricks by JacoCronje, dashi and ElectricShaka.
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> GinDuck/microduck-duck-rock-2
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-GotATalent-MicroDuck - repo:
https://github.com/pollen-robotics/microduck-challenges - branch:
main - commit:
dc73b9237 - checkpoint:
5 - seed:
1 - base:
mjlab-microduck 0.1.0 @ 1efd853be - started:
2026-10-31T13:18:19Z
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 https://github.com/pollen-robotics/microduck-challenges
cd microduck-challenges
git checkout dc73b9237
uv sync
uv run train Mjlab-GotATalent-MicroDuck --env.scene.num-envs 4096 --agent.max-iterations 3000 --agent.seed 1 --agent.logger tensorboard --agent.run-name run-1031-1415
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