Preview
Sim checkpoint replay (play.sh). Not the ONNX runtime path, not a real robot, not an official Pollen policy.
walk
Velocity-tracking flat walk from Mjlab-Velocity-Flat-MicroDuck, 4096 envs × 4000 iters on Hugging Face Jobs. Community example from the microduck-plugin loop. Not an official Pollen policy. Weights live here; they are not bundled in the plugin git.
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait for the walk slot.
Agent plugin / skill
git clone https://github.com/acnlabs/microduck-plugin
# Point an Agent Plugins client at that folder (the one with plugin.json).
Skill-only clients:
npx skills add acnlabs/microduck-plugin@microduck-skill -g -y
Then the agent runs localhost control (do not type this yourself unless you are debugging):
control.sh start --repo neil-jo/microduck-walk --detach
ClawHub listing for microduck-skill is still pending review.
If you own a Microduck
sudo robotctl policy load walk neil-jo/microduck-walk
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:
29e887ecf