Rhod
2 m Roller Sprint skater: our PPO roller policy (3.032 s) fine-tuned by evolution strategies on the Arena's own roller scorer (two rounds)
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> RhodWeo/microduck-rhod-roller
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:
main - commit:
d38568043
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