aifund-roller
AI Fund: roller race PPO (forward speed up to a commanded-vx dial, nominal physics) fine-tuned with ES on the Arena's fixed seeds
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz, on rollers). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> eli-aifund/microduck-aifund-roller
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).
Training
- repo:
pollen-robotics/microduck_rl - branch:
aifund - commit:
20f9e86fc
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