austindixson/microduck-roller-improver-rev6

roller-improver-rev6

An entry for 2 m Roller Sprint of the Microduck Arena. Simulation only.

A remix of austindixson/microduck-roller-remix-r900-improver (revision 94238905c): closed-loop CMA delta baked into the seed-1 branch table (other seeds bit-identical). The network is frozen; strength, gear and mass are untouched. The base itself remixes dashi's roller-remix-r900.

Race times on the official seeds, scored with the Arena's own arena score on x86-64 Linux: 0.90, 0.90, 0.90, 0.90, 0.90 s, a 0.900 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 cfd330e6def5f8244b842c4b8ad8ba59ef6bbd0a4bb9129b451d7c5afa8ed1df. 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.