PROJECT PREVIEWmicroduck-onefoot-skate
Interim checkpoint on a sustained left-foot glide, published as method and measurements rather than as a result: the declared 2.0 second gate is cleared by only 1 episode in 64 and no stage has passed formal acceptance, but 96.9 percent hold a credible one-foot glide past 1.0 second and the best recorded is 2.14 seconds. Carries the learnable-authority audit that found 35 percent of every episode had nothing to learn, two spawn-state defects traced to wheel velocities in the observation, all 15 training runs as curves, signed decision records, and an ONNX path documented well enough to drive the policies without installing MuJoCo. Sim-only.
https://github.com/hikarioyama/microduck-onefoot-skate61 OBSERVATIONS 14 ACTIONS 50 HZ COMPATIBILITY NOT INDEPENDENTLY VERIFIED
AWESOME MICRODUCK INDEX
microduck-onefoot-skate
Interim checkpoint on a sustained left-foot glide, published as method and measurements rather than as a result: the declared 2.0 second gate is cleared by only 1 episode in 64 and no stage has passed formal acceptance, but 96.9 percent hold a credible one-foot glide past 1.0 second and the best recorded is 2.14 seconds. Carries the learnable-authority audit that found 35 percent of every episode had nothing to learn, two spawn-state defects traced to wheel velocities in the observation, all 15 training runs as curves, signed decision records, and an ONNX path documented well enough to drive the policies without installing MuJoCo. Sim-only.
Project Overview
Reinforcement-learning work on Microduck (a ~25 cm, ~800 g biped with 14 Dynamixel XL330 servos and four passive roller wheels), built on mjlab.
The goal is a single skill: accelerate from rest on the rollers, transfer weight onto the left foot, steer inward with the support skate, and hold a sustained left-foot glide — ideally entering that glide at the robot's top speed and staying up for as long as possible.
Four things were produced, in order of how much they matter.
Task
| Field | Value |
|---|---|
| Source | GITHUB SOURCE |
| Runtime contract | 61 observations / 14 actions / 50 Hz |
| Verification | Pending independent Duckio review |
| Artifact | Not indexed |
Source Coverage
The upstream README includes: What is actually in here, Headline results, Why 2.0 s is still out of reach, The two cheap routes are now closed by measurement, Layout, Reproducing, Provenance.
Intended Use
Use this entry to assess the project and locate its canonical implementation. Read the complete README, inspect the manifest and artifacts, and reproduce the source's evaluation before assigning simulation or hardware verification.