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. • 8 items • Updated
walk-rough
Walking gait trained in the rough-terrain task (Mjlab-Velocity-Rough-MicroDuck), simulation only: 8,000 iterations, 4096 envs, 324 min on one RTX 5090. The stock terrain curriculum kept almost every environment on the easiest tier for the whole run (steps under 1.5 mm, slopes under 4%), so treat this as a flat-ground walker with light terrain noise. 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