This is the Linux app named Microduck RL whose latest release can be downloaded as microduck_rlsourcecode.zip. It can be run online in the free hosting provider OnWorks for workstations.
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Microduck RL
DESCRIPTION
Microduck RL provides reinforcement-learning environments for training behaviors for Pollen Robotics' small bipedal Microduck robot. It is built on mjlab with MuJoCo Warp and trains PPO policies at a 50 Hz control rate. The repository includes tasks for walking, standing up, sitting, kicking, rolling, skating, crouching, and other physical behaviors. Its sim-to-real setup models actuator physics, backlash, domain randomization, and reward design. Trained policies can be exported to ONNX and deployed through the separate Microduck runtime. Training normally uses CUDA hardware, while supported workflows can offload jobs to Hugging Face Jobs when a local GPU is unavailable.
Features
- PPO reinforcement-learning training
- MuJoCo Warp simulation environments
- Walking and recovery behaviors
- Skating, kicking, and rolling tasks
- Sim-to-real domain randomization
- ONNX policy export for deployment
Programming Language
Python
Categories
This is an application that can also be fetched from https://sourceforge.net/projects/microduck-rl.mirror/. It has been hosted in OnWorks in order to be run online in an easiest way from one of our free Operative Systems.
