craigm26/microduck-duckbatch-b003f

duckbatch-b003f

Book 4's b003f: duckbatch's 26,254-parameter student of Pollen's walk, fine-tuned in simulation with progress terms and the teacher's pull off on upright frames. Sim only, never run on hardware.

A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait for the walk slot.

Run it on a robot

sudo robotctl policy load walk craigm26/microduck-duckbatch-b003f

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).

A remix of craigm26/microduck-duckbatch-b002-128x128.

Training

• repo: pollen-robotics/microduck_rl