{
  "schema_version": 4,
  "model_api": 1,
  "name": "microduck-running",
  "kind": "perpetual",
  "obs_len": 61,
  "action_len": 14,
  "action_scale": 1.0,
  "entry_pose": "standing",
  "duration_s": null,
  "status": "sim-only",
  "description": "Forward-running policy for the stock MicroDuck on flat ground. This is checkpoint 8749 used in the run-into-mat video, not the later faster continuation.",
  "command": {
    "layout": "twist(3), head_pose(4), body_pose(6)",
    "twist": [
      "forward velocity command in m/s; trained through 1.65, recommended simulation evaluation point 1.80; not a hard speed limit",
      "lateral velocity; use 0 (training range was only -0.02 to 0.02 m/s)",
      "yaw rate; use 0 (training range was only -0.05 to 0.05 rad/s)"
    ],
    "head": "unused; zeros",
    "body": "unused; zeros",
    "idle": [
      0,
      0,
      0
    ],
    "exact_zero_training_fraction": 0.03
  },
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "14x Dynamixel XL330",
    "control_hz": 50,
    "hardware_modifications_required": false
  },
  "training": {
    "task_id": "Mjlab-Running-Flat-MicroDuck",
    "algorithm": "PPO (rsl_rl)",
    "repo": "Vottivott/microduck-playground",
    "commit": "c5fcc50219fef01ac9931d0079c583ccbb29b689",
    "upstream_base": "pollen-robotics/microduck_rl@d424a0c899f6b33cbd3daeb279913134349c0b63",
    "run": "sweep-speed-r1",
    "checkpoint_iteration": 8749,
    "resumed_from": "highspeed-r6 iteration 6750",
    "continuation_iterations": 2000,
    "environment": {
      "MICRODUCK_RUNNING_TARGET_MAX_SPEED": 1.65,
      "MICRODUCK_RUNNING_SPEED_CAP": 1.8,
      "MICRODUCK_RUNNING_ACTION_RATE_WEIGHT": -0.1,
      "MICRODUCK_RUNNING_ENABLE_SYMMETRY": false,
      "MICRODUCK_RUNNING_ENABLE_HEADING_FEEDBACK": false
    },
    "export": "scripts/export.py; observation normalizer baked into policy.onnx",
    "source_commit": "c5fcc50219fef01ac9931d0079c583ccbb29b689",
    "continuation_checkpoint": {
      "path": "checkpoint.pt",
      "sha256": "ce7707c985d84affda1befec172a8c0a72fafaa4d3476a26bec11dde9199907f",
      "actor_exact_to_released_onnx": true,
      "original_full_ppo_state": true
    }
  },
  "eval": {
    "sim_proxy": "mjlab / MuJoCo Warp with BAM XL330 M6 actuator model",
    "command_speed_m_s": 1.8,
    "num_envs": 256,
    "duration_s": 8.0,
    "survival_fraction": 0.9921875,
    "mean_body_forward_speed_m_s": 1.6072514057159424,
    "mean_initial_heading_displacement_speed_m_s": 1.3276939392089844,
    "mean_absolute_heading_error_deg": 25.215665057096395,
    "mean_absolute_lateral_displacement_m": 3.8727223873138428,
    "flight_fraction": 0.6572428941726685,
    "known_limits": "Heading drift is substantial. At a 2.00 m/s extrapolated command, mean body-forward speed was 1.6452 m/s and survival fell to 0.9336. Never tested on hardware."
  },
  "sim2real": {
    "retained": [
      "BAM XL330 M6 voltage control, back-EMF, current limiting, battery 6.5-8.2 V, and load-dependent sag",
      "3-6 physics-step actuator delay, 0-1-step IMU delay, and one-control-step joint-velocity lag",
      "foot friction 0.7-1.3",
      "trunk mass/inertia +/-5%, trunk/head CoM +/-3 mm, armature +/-10%, BAM joint friction +/-10%",
      "encoder bias +/-0.015 rad, IMU misalignment up to 6 degrees, and actor observation noise"
    ],
    "relaxed": [
      "flat terrain only",
      "random push disturbances removed",
      "non-backlash robot model",
      "CoM/head-CoM and head/body pose-command widening curricula removed",
      "weaker posture, angular-motion, foot-slip, and action-rate regularization; head/body pose tracking disabled",
      "motor-gain randomization and randomized initial base tilt disabled in inherited base recipe"
    ],
    "hardware_validated": false
  },
  "media": {
    "preview": "media/preview.mp4",
    "run_into_mat": "media/run-into-mat.mp4",
    "run_into_mat_note": "Same policy checkpoint; obstacle, collision augmentation, camera treatment, motor cutoff, and sparks are scripted demo elements. The policy has no obstacle perception.",
    "audio": false
  },
  "source_artifact_sha256": "b4e285fb3671f52c28f671bd4733a4e11fa17c21f40d25f52eaf2614f9e2e02a",
  "artifacts": {
    "policy_onnx_sha256": "b4e285fb3671f52c28f671bd4733a4e11fa17c21f40d25f52eaf2614f9e2e02a"
  }
}