manifest.json

{
 "schema_version": 2,
 "model_api": 1,
 "obs_len": 61,
 "action_len": 14,
 "robot": {
  "model": "microduck",
  "hw_rev": 1,
  "servos": "xl330",
  "control_hz": 50
 },
 "name": "Ground pick",
 "kind": "episodic",
 "entry_pose": "standing",
 "description": "Pollen Robotics' ground pick: the beak goes down to the floor and comes back up, driven by a phase command over 2.8 s.",
 "command": {
  "encoding": "phase",
  "slots": "twist.vx,twist.vy",
  "period_s": 4.0,
  "end_phase": 0.7
 },
 "duration_s": 2.8,
 "chain": false,
 "training": {
  "repo": "pollen-robotics/microduck_rl",
  "commit": "2b25a48",
  "task": "Mjlab-GroundPick-Flat-MicroDuck",
  "iterations": 5999,
  "num_envs": 4096,
  "source_file": "policy.onnx",
  "trained_by": "microduck-academy (spikes/base_moves)"
 },
 "slot": "ground_pick",
 "judge_score": null,
 "vlm": null,
 "score": null,
 "battery": null,
 "rollouts": [
  {
   "k": 0,
   "primary": true,
   "take": "showcase",
   "duration_s": 4.5,
   "chain": [
    [
     2.8,
     "tfrere/microduck-move-base-walk"
    ]
   ],
   "scene": "scenes/scene.xml"
  }
 ],
 "checkpoints": [],
 "video": "video.mp4",
 "poster": "poster.jpg",
 "clip": {
  "renderer": "chromium-webgl",
  "fps": 25,
  "seconds": 4.48,
  "width": 640,
  "height": 480,
  "t0": 0,
  "rendered_at": 1789420207
 },
 "academy": {
  "origin": "pollen-upstream",
  "official": true,
  "author_label": "Pollen Robotics",
  "author_hub": "pollen-robotics",
  "author": "tfrere",
  "source_task": "Mjlab-GroundPick-Flat-MicroDuck",
  "source_policy": "pollen-robotics/microduck-policies#alpha_ground_pick.onnx",
  "family": "groundpick",
  "kind": "trick",
  "tier": 1,
  "mode": "train",
  "prompt": "Ground pick",
  "objective": "Pollen Robotics' ground pick: the beak goes down to the floor and comes back up, driven by a phase command over 2.8 s.",
  "intents": [],
  "judge": {
   "score": null,
   "pass": null,
   "numbers": {
    "final_upright": true,
    "max_tilt": 0.502,
    "base_z_mean": 0.0914,
    "base_z_min": 0.0805,
    "mouth_z_min": 0.0212,
    "t_mouth_min_s": 0.26,
    "mouth_z_start": 0.188,
    "mouth_z_end": 0.2162,
    "base_z_end": 0.1166
   }
  },
  "rounds": [],
  "lineage": [],
  "remix_from": null,
  "session": null,
  "run_repo": "tfrere/microduck-base-ground-pick-train",
  "shipped_round": null,
  "checkpoint_iter": 5999,
  "upstream_sha": "2b25a48",
  "training": {
   "move": "ground-pick",
   "task": "Mjlab-GroundPick-Flat-MicroDuck",
   "iters": 6000,
   "checkpoint_iter": 5999,
   "checkpoint": "ground_pick/2026-09-14_15-50-31_ground_pick/model_5999.pt",
   "upstream_sha": "2b25a48",
   "upstream_repo": "pollen-robotics/microduck_rl",
   "num_envs": 4096,
   "job_id": "6aa8175c5527934177ede83e",
   "accelerator": "gpu",
   "finished_at": 1789412619.9624553,
   "flavor": "a100-large",
   "run_minutes": 194.7,
   "cost_usd": 8.11,
   "staging_repo": "tfrere/microduck-base-ground-pick-train",
   "launcher": "spikes/base_moves/base_move_job.py"
  },
  "fidelity": {
   "takes": {
    "phase": {
     "trained": {
      "final_upright": true,
      "max_tilt": 0.502,
      "base_z_mean": 0.0914,
      "base_z_min": 0.0805,
      "mouth_z_min": 0.0212,
      "t_mouth_min_s": 0.26,
      "mouth_z_start": 0.188,
      "mouth_z_end": 0.2162,
      "base_z_end": 0.1166
     },
     "pollen": {
      "final_upright": true,
      "max_tilt": 0.638,
      "base_z_mean": 0.0979,
      "base_z_min": 0.0839,
      "mouth_z_min": 0.0204,
      "t_mouth_min_s": 1.08,
      "mouth_z_start": 0.1883,
      "mouth_z_end": 0.2166,
      "base_z_end": 0.1164
     }
    }
   },
   "pollen_policy": "pollen-robotics/microduck-policies#alpha_ground_pick.onnx",
   "recorder": "space/payload/render/rollout.py",
   "scenes": "the upstream robot MJCF at timestep 0.005 (spikes/base_moves/fidelity.py)"
  },
  "remixable": true,
  "remix_checkpoint": "base/model.pt",
  "shipped_at": 1789420207.980661
 }
}