Microduck RL
RL training environments for
Microduck
—
a ~800 g, ~25 cm tall bipedal robot — built on
mjlab
(MuJoCo Warp) with PPO.
Policies are trained here at 50 Hz, exported to ONNX, and deployed on the real
robot by the runtime in
pollen-robotics/microduck
.
interaction.mov
The repo encodes the full sim2real recipe:
BAM
actuator physics, domain randomization, backlash simulation, and the
reward-design lessons that made it work
(see
AGENTS.md
for the distilled playbook).
Quickstart
Requires a CUDA GPU (training runs through MuJoCo Warp) and
uv
.
On ARM boxes (DGX Spark / GB10, Jetson):
uv sync
pulls ~2 GB of CUDA
wheels on first run and uv's default 30 s HTTP timeout can abort mid-download.
Export
UV_HTTP_TIMEOUT=600
for the first sync.
git clone https://github.com/pollen-robotics/microd (EN)

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**📖 中文解读**
以上内容由AI翻译自英文原文，可能存在不准确之处。建议阅读[原文](https://github.com/pollen-robotics/microduck_rl)获取最准确的信息。

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🔗 **原文链接**: [pollen-robotics/microduck_rl (⭐ 168 stars today)](https://github.com/pollen-robotics/microduck_rl)
🏷️ **转载来源**: GitHub Trending
> 本文由小九AI技术站翻译整理，内容版权归原作者所有。

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> _转载自 GitHub Trending，内容版权归原作者所有_

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⏱️ 2026-08-31 14:02