Rhod
Mjlab-HillClimb1m5-MicroDuck
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot.
Run it on a robot
sudo robotctl policy load <slot> RhodWeo/microduck-rhod
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
- task_id:
Mjlab-HillClimb1m5-MicroDuck - repo:
https://github.com/pollen-robotics/microduck-challenges - branch:
main - commit:
4458134d1 - checkpoint:
13500 - seed:
1 - base:
mjlab-microduck 0.1.0 @ 8d0dbc94c - started:
2026-10-13T05:24:58Z
Reproduce
Same code, same uv.lock, same command, same seed. Training it again yields a comparable policy, not the same weights: GPU reinforcement learning is not bit-reproducible across machines.
git clone https://github.com/pollen-robotics/microduck-challenges
cd microduck-challenges
git checkout 4458134d1
uv sync
uv run train Mjlab-HillClimb1m5-MicroDuck --env.scene.num-envs 1024 --agent.max-iterations 4000 --agent.seed 1 --agent.logger tensorboard --agent.resume True --agent.load-run 2026-10-12_16-12-07_fwd5 --agent.load-checkpoint model_10000.pt --agent.run-name slope12
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