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witcheer/microduck-walk-flat
microduck-walk-flat is a robotics model from witcheer. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for microduck.
v2: the v1 flat-ground walk fine-tuned with +-1 deg of gear play in every servo (Mjlab-Velocity-Flat-Backlash-MicroDuck), simulation only: v1's 4,000 iterations plus 3,000 with the slop, 4096 envs, 57 min on one RTX 5…
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Updated Sep 29, 2026
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From the Hugging Face model README
v2: the v1 flat-ground walk fine-tuned with +-1 deg of gear play in every servo (Mjlab-Velocity-Flat-Backlash-MicroDuck), simulation only: v1's 4,000 iterations plus 3,000 with the slop, 4096 envs, 57 min on one RTX 5090. With the slop it stayed on its feet for 20 s in 4 of 5 takes; v1 did 2 of 5 in the same sim (small sample, the training fall rate did not improve). 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.
sudo robotctl policy load walk witcheer/microduck-walk-flat
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).
pollen-robotics/microduck_rldevelop53b8971b6Proof takes with headless_play in Mjlab-Velocity-Flat-Backlash-MicroDuck (±1° of gear play in every servo), 20 s each, standing start, trunk height and tilt sampled every 0.1 s. A fall is a mid-episode environment termination (the robot tipping over).
The training checkout had one local change (the task registration for an unrelated get-up task in tasks/__init__.py); the backlash task itself is unmodified at the commit above.
The first release: 4,000 iterations on Mjlab-Velocity-Flat-MicroDuck, no gear play. Still installable:
sudo robotctl policy load walk witcheer/microduck-walk-flat@v1