| --- |
| title: Microduck Sandbox |
| emoji: 🐤 |
| colorFrom: yellow |
| colorTo: gray |
| sdk: static |
| pinned: false |
| --- |
| |
| # Microduck RL playground |
|
|
| Real trained RL policies for the Microduck robot, running fully in the |
| browser: MuJoCo compiled to WebAssembly steps the physics, onnxruntime-web |
| runs the policy network at 50 Hz. No server, no backend. |
|
|
| ## Policies |
|
|
| | Button | Checkpoint | What it does | |
| |--------|-----------|--------------| |
| | Run | `BEST_alpha_walking.onnx` | Velocity-tracking locomotion (arrows / WASD to steer) | |
| | Sit | `BEST_alpha_sitstand.onnx` | Sits down on its hull, stands back up | |
| | Roll | `roulade.onnx` | Rolls over and recovers | |
| | Kick | `ball_kick_left.onnx` / `ball_kick_right.onnx` | Blind one-shot kick (0.5 s window, zeroed commands), left or right leg | |
|
|
| Policies and MJCF model from |
| [apirrone/microduck_runtime](https://github.com/apirrone/microduck_runtime) |
| and [apirrone/mjlab_microduck](https://github.com/apirrone/mjlab_microduck). |
|
|
| ## Controls |
|
|
| - Arrow up / down: forward / back |
| - Arrow left / right: turn |
| - A / E: strafe |
| - Space: roll (one barrel roll, then back to running) |
| - F: kick, alternating feet |
| - R: reset |
| - Drag to orbit, scroll to zoom |
| - Colour dots: repaint the duck (it quacks) |
|
|
| ### Gamepad |
|
|
| Plug in a controller and the same mapping as the real robot runtime applies: |
|
|
| - Left stick: forward / back + strafe |
| - Right stick: turn |
| - X: roll |
| - RB / LB: right / left kick |
| - D-pad down: sit / stand toggle |
| - Right trigger: mouth (analog) + quack |
|
|
| ## Multiplayer ghosts |
|
|
| Other people visiting the Space at the same time show up as translucent |
| ducks, live. Peer-to-peer WebRTC via [Trystero](https://github.com/dmotz/trystero) |
| (serverless signaling over public Nostr relays), so it works from a static |
| Space with no backend. Each tab broadcasts its duck's pose (trunk + 14 |
| joints + jaw + colour) at 10 Hz; up to 3 ghosts are rendered, extra peers |
| stay connected but invisible. The header shows "N online" when peers are |
| around. |
|
|
| ## How it works |
|
|
| - `rl.js` fetches the MJCF (`robot_allcollisions.xml`), strips the visual |
| geoms, injects a floor and a STAND keyframe, and compiles it with the |
| official `@mujoco/mujoco` WASM bindings. |
| - The 61D observation (gyro, projected gravity, joint pos/vel, last action, |
| command) matches `mjlab_microduck/scripts/infer_policy.py`. |
| - Rendering is a three.js rig built from `kinematics.json` + decimated STL |
| meshes, driven directly from MuJoCo `qpos`. |
|
|
