File size: 1,565 Bytes
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"schema_version": 2,
"model_api": 1,
"obs_len": 61,
"action_len": 14,
"robot": {
"model": "microduck",
"hw_rev": 1,
"servos": "xl330",
"control_hz": 50,
"accessories": [
"rollers"
]
},
"name": "roller-sprint-2m-reference",
"kind": "perpetual",
"entry_pose": "standing",
"description": "Pollen's reference for the Microduck Arena's 2 m Roller Sprint: the roller_sprint_2m challenge of microduck-challenges trained unchanged with its recipe (4096 envs, 3000 iterations, seed 1).",
"command": {
"encoding": "constant",
"idle": [
0.0,
0.0,
0.0
],
"twist": "[push: 0 coast, >0 push m/s, <0 brake; lateral 0; heading error rad]; the Arena commands [vx, 0, 0]",
"head": "unused (zeros)",
"body": "unused (zeros)"
},
"duration_s": null,
"slot": "walk",
"training": {
"repo": "https://github.com/pollen-robotics/microduck-challenges.git",
"commit": "611b6453c",
"branch": "main",
"dirty": false,
"command": [
"train",
"Mjlab-RollerSprint2m-MicroDuck",
"--env.scene.num-envs",
"4096",
"--agent.max-iterations",
"3000",
"--agent.seed",
"1",
"--agent.logger",
"tensorboard",
"--agent.run-name",
"reference"
],
"seed": 1,
"base": "mjlab-microduck 0.1.0 @ 981a279c6",
"started": "2026-09-26T04:21:50Z",
"task_id": "Mjlab-RollerSprint2m-MicroDuck",
"checkpoint": 2999,
"source_file": "model_2999.pt"
},
"arena": {
"event": "roller-sprint-2m"
}
}
|