manifest.json · microduck-policies

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{

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"schema_version": 2,

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"model_api": 1,

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"obs_len": 61,

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"action_len": 14,

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"robot": {

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"model": "microduck",

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"hw_rev": 1,

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"servos": "xl330",

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"control_hz": 50

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},

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"description": "The policy set a microduck ships with: walking, standing, and the one-shots its buttons run.",

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"policies": [

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{ "file": "alpha_walking.onnx", "kind": "perpetual" },

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{ "file": "velstand.onnx", "kind": "perpetual", "slot": "walk", "entry_pose": "standing",

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      "description": "Walking gait that also stands still at zero command; the default walk policy since v5, with no separate standing network. From v7 the body is steerable while standing: the body_pose roll/pitch command tilts the trunk (about +-10 deg), as alpha_stand did.",

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      "training": { "task_id": "Mjlab-VelStand-Rough-Backlash-MicroDuck", "repo": "pollen-robotics/microduck_rl", "commit": "53fb7d1", "branch": "improve_velstand2", "dirty": false, "run": "pollen-robotics/mjlab_microduck/j4i6yoq2", "checkpoint": 1250, "exported": "2026-10-05T00:00:00Z" } },

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{ "file": "alpha_stand.onnx", "kind": "perpetual" },

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{ "file": "roller.onnx", "kind": "perpetual", "mode": "roller", "action_scale": 0.8 },

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{ "file": "alpha_sitstand.onnx", "name": "sitstand", "kind": "scripted",

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"command": { "encoding": "posture_flag", "slot": "twist.vx", "sit": 1.0, "stand": 0.0, "idle": [0.0, 0.0, 0.0] },

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"ramp_s": 2.0, "unwind_s": 1.0,

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      "description": "Gentle sit and stand, head steerable while seated. From v6 it no longer tips over backward when the head moves abruptly while seated.",

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      "training": { "task_id": "Mjlab-SitStand-Flat-MicroDuck", "repo": "pollen-robotics/microduck_rl", "commit": "77ffadf", "branch": "sitstand_no_fall_back", "dirty": false, "run": "pollen-robotics/mjlab_microduck/vfhxgrum", "checkpoint": 2250, "exported": "2026-10-01T00:00:00Z" } },

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{ "file": "alpha_ground_pick.onnx", "name": "ground_pick", "kind": "episodic", "duration_s": 2.8,

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"command": { "encoding": "phase", "slots": "twist.vx,twist.vy", "period_s": 4.0, "end_phase": 0.7 } },

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    { "file": "roller_crouch.onnx", "name": "crouch", "kind": "episodic", "duration_s": 3.5, "mode": "roller", "action_scale": 0.8,

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"command": { "encoding": "phase", "slots": "twist.vx,twist.vy", "period_s": 5.0, "end_phase": 0.7 } },

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{ "file": "roulade.onnx", "kind": "episodic", "duration_s": 1.0, "chain": true },

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{ "file": "ball_kick_left.onnx", "name": "kick_left", "kind": "episodic", "duration_s": 0.5 },

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{ "file": "ball_kick_right.onnx", "name": "kick_right", "kind": "episodic", "duration_s": 0.5 }

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]

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}

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