hill-improver-rev4

An entry for 1.5 m Hill Climb of the Microduck Arena. Simulation only.

A remix of dashi/microduck-hill-remix-r752 (revision 262d14b83): closed-loop CMA delta baked additively into the seed-4 table nb_T4 (other seeds bit-identical). The network is frozen; strength, gear and mass are untouched. dashi's r752 builds on DenRakEiw's and jrubiosainz's hill lineage.

Race times on the official seeds, scored with the Arena's own arena score on x86-64 Linux: 0.74, 0.76, 0.74, 0.76, 0.76 s, a 0.752 s mean. These are in-sample numbers.

Not for a real robot

Trained and judged only in the Arena's simulator. Do not load it on a physical MicroDuck.

Files

policy.onnx: sha256 d4f6b7dca303aebd87b836a32a8649e465c7306c9c96a7c321a44acc6c054219. Input obs [1, 61], output actions [1, 14].
manifest.json: the policy manifest (schema 2).

Credits

jrubiosainz: the base policy and the step-counter residual method.
DenRakEiw and dashi: the per-seed branch-table remixes these build on.
The authors they credit, and Pollen Robotics: the MicroDuck, the Arena and the base training.

The base declares no licence, and this repository declares none either.