Downloads · 30 days
0
microduck-rl-ydx-walk
XenderYang/microduck-rl-ydx-walk
microduck-rl-ydx-walk is a reinforcement learning model from XenderYang. Use it for the reinforcement learning task on the model card, and read the license before you ship it in a product. It is set up for mjlab. The card lists the license as apache-2.0.
Self-trained walking baseline for the open-source MicroDuck biped (Duck Together / RoboGo cloud project).
Access
Public
Updated Sep 8, 2026
Repo size
5.6 MB
Likes
0
Public
Repo makeup
Click a slice to open those files.
.pt4.8 MB · 85%
At a glance
- Task
- Reinforcement Learning
- Library
- mjlab
- License
- apache-2.0
- Access
- Public
- Created
- Sep 8, 2026
- Updated
- Sep 8, 2026
- SHA
- f299ad50
Model card
From the Hugging Face model README
MicroDuck RL — Velocity Walking (trained 4096 env x 6000 PPO)
Self-trained walking baseline for the open-source MicroDuck biped (Duck Together / RoboGo cloud project).
- Task:
Mjlab-Velocity-Flat-MicroDuck(flat-ground velocity tracking) - Training: mjlab + MuJoCo Warp + PPO, 4096 parallel envs x 6000 iterations, ~1h59m on NVIDIA RTX 5090
- Contract: ONNX
[1, 61] -> [1, 14](observation normalizer baked in via scripts/export.py) - Result: mean reward ~81.5, mean episode length ~919.9, no NaN
- Note: this is an intermediate baseline (stable stand/walk, weaker straight-line speed tracking than the official
alpha_walking). Full training config/log diff included underparams/andmicroduck_rl.diff.
Files
| File | Description |
|---|---|
model_5999.pt | final PyTorch checkpoint |
final.onnx | exported ONNX policy [1,61] -> [1,14] |
params/agent.yaml, params/env.yaml | training configuration |
microduck_rl.diff | upstream repo diff (commit pin) |
Upstream
- pollen-robotics/microduck
- pollen-robotics/microduck_rl (Apache-2.0)
- Task
- Reinforcement Learning
- Library
- mjlab
- License
- apache-2.0
- Created
- Sep 8, 2026
- Updated
- Sep 8, 2026