Microduck skill tree (sim only)
Collection
Policies trained in simulation for a Pollen Robotics Microduck still on order, one level per skill, plus the training log. Sim only so far. • 7 items • Updated
walk-rough
Walking gait trained on rough terrain (Mjlab-Velocity-Rough-MicroDuck), simulation only: 8,000 iterations, 4096 envs, 324 min on one RTX 5090. Upright for a 12 s flat-ground take; no rough-ground take recorded yet. Not yet tested on a real Microduck.
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 witcheer/microduck-walk-rough
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:
develop - commit:
53b8971b6