roller-es4
2 m Roller Sprint skater: Pollen roller reference fine-tuned by evolution strategies on the Arena roller scorer (x86-verified, fourth round).
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> juicenv/microduck-roller-es4
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 pollen-robotics/microduck-roller-sprint-2m-reference.
Training
- repo:
pollen-robotics/microduck_rl - branch:
lean - commit:
5a3636302
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