sprint-improver-rev7

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

A remix of austindixson/microduck-sprint-improver-rev2 (revision 2eafef86d): a CPU closed-loop CMA delta (x0.6) on the seed-1 branch table. The network is frozen; strength, gear and mass are untouched. Every other seed is bit-identical to the base.

Race times on the official seeds, scored with the Arena's own arena score on x86-64 Linux: 0.84, 0.84, 0.84, 0.84, 0.84 s, a 0.840 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 2f92b930faaf3f8b33beef0fc0643b1cf322b24b845e297622dbba7ef7390037. 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.