v1.0_baseline_dataset_metadata.json

{
  "dataset_name": "MicroDuck-V1.0-FlatGround-Baseline",
  "version": "1.0.0",
  "release_date": "2026-09-03",
  "license": "Commercial / Proprietary",
  "hardware_platform": "Antigravity MicroDuck 14-DOF Bipedal Robot",
  "dof_configuration": {
    "total_dof": 14,
    "legs": "2 x 5-DOF (HipYaw, HipRoll, HipPitch, KneePitch, AnklePitch)",
    "head_neck": "3-DOF (NeckPitch, HeadPitch, HeadYaw)",
    "tail": "1-DOF"
  },
  "telemetry_specs": {
    "control_frequency_hz": 50.0,
    "total_episodes": 500,
    "total_agents": 10,
    "total_frames": 250000,
    "ground_surface": "Flat Rigid Floor (MuJoCo Ground Plane)"
  },
  "performance_benchmarks": {
    "mean_forward_velocity_m_s": 0.652,
    "mean_stance_slip_velocity_m_s": 0.0003194,
    "max_stance_slip_velocity_m_s": 0.002121,
    "ground_clearance_swing_mm": 22.0,
    "mean_grf_vertical_n": 9.667,
    "mean_grf_propulsion_fx_n": 1.35,
    "collision_rate_percent": 0.0,
    "stagnation_marching_rate_percent": 0.0
  },
  "files": {
    "raw_dataset_csv": "v1.0_baseline_10ducks_500ep.csv",
    "model_weights_onnx": "v1.0_flat_ground_stable.onnx",
    "metadata_json": "v1.0_baseline_dataset_metadata.json"
  }
}