microduck_rl
microduck_rl: quickstart de un episodio RL acotado
Fija mjlab e inspecciona observaciones, recompensas y trayectorias.
Qué aprenderás
- Map environment, simulator, and runner
- Run a reproducible simulation
- Identify sim-to-real gates
Antes de empezar
- Basic Git and command-line usage
- Comfort reading a project README
You can explain the project, run its documented first step, and decide what to verify before adopting it.
Conclusiones clave
- A small episode reveals the environment contract.
- Reward and termination must be visible.
- Simulation scores are not hardware validation.
Pin the experiment
Fija código, simulador, stack, semilla y rollout; ejecuta el entorno mínimo y guarda shapes, reward, terminación y vídeo.
Use the pinned source evidence, record versions and assumptions, and ask a qualified reviewer to validate the result before adopting it.
Inspect one episode
Before training, print observation/action shapes, reward terms, termination causes, and contact or sensor telemetry. Save a video or trajectory so a score has visible context.
Scale deliberately
Increase parallel environments and rollout length only after a baseline is reproducible. Keep simulation success separate from any claim about physical-robot safety.
Use the pinned source evidence, record versions and assumptions, and ask a qualified reviewer to validate the result before adopting it.
Cómo elegir
| Criterio | Opción A | Opción B |
|---|---|---|
| Best when | You need predictable behavior and easy auditing | You need adaptive optimization and have reliable telemetry |
| Main risk | May leave performance on the table | Can become difficult to explain or debug |
Pasos de implementación
- 1
Pin code, simulator, seed, and config.
- 2
Run one evaluation episode.
- 3
Inspect shapes, rewards, and telemetry.
- 4
Scale parallelism after parity.
Ejemplo para copiar
git clone https://github.com/pollen-robotics/microduck_rl.git
cd microduck_rl
# follow the repository's pinned mjlab/PyTorch setup
# run the smallest environment and save a rolloutPreguntas frecuentes
Can I start with hardware?
No. Begin in simulation and complete qualified sim-to-real and operator checks before hardware.
What should a bug report include?
Revision, seed, simulator stack, config, checkpoint, telemetry, and rollout artifact.
Fuentes
- microduck_rl repositoryFuente verificada 2026-08-31