hill-improver-rev6

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

A remix of austindixson/microduck-hill-improver-rev2 (revision eee67dd2b): seed-4 branch table nudged by a closed-loop CMA delta scaled x0.25. The network is frozen; strength, gear and mass are untouched. Lineage: jrubiosainz game-hillclimber-remix6.

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 d174b7b9b71e1c5d580b9295970759fd9bfda89e022f8b61514db98bf32335e3. 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.