microduck_rl
microduck_rl 部署：可复现仿真 Worker 与硬件安全门
覆盖固定环境、GPU 隔离、产物和硬件交接。
你将学会
- Map environment, simulator, and runner
- Run a reproducible simulation
- Identify sim-to-real gates
开始前需要
- 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.
先看结论
- Workers need simulator and asset pinning.
- Checkpoints require telemetry and config provenance.
- Hardware is a separate, safety-critical deployment.
Simulation worker
训练和评估 worker 保存配置、奖励、检查点与遥测；导出到硬件前必须验证控制频率、限幅、传感器、看门狗和急停。
Use the pinned source evidence, record versions and assumptions, and ask a qualified reviewer to validate the result before adopting it.
Artifact contract
Persist config, reward/termination definitions, code revision, checkpoints, telemetry, videos, and evaluation summaries. Make reruns possible without mutable latest tags.
Hardware boundary
Policy export, control frequency, actuator limits, sensor dropout, watchdogs, emergency stop, and operator approval are deployment gates, not afterthoughts.
Use the pinned source evidence, record versions and assumptions, and ask a qualified reviewer to validate the result before adopting it.
如何选择
| 比较维度 | 方案 A | 方案 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 |
实施步骤
- 1
Build a pinned simulation image.
- 2
Run smoke/evaluation workers.
- 3
Store immutable artifacts and logs.
- 4
Complete hardware gate tests before transfer.
可复制示例
pinned image -> simulator worker -> checkpoint/telemetry
export -> timing/limits/watchdog tests
operator approval -> guarded hardware trial常见问题
Can training and serving use the same image?
They can, but separate images often make dependencies and safety boundaries easier to audit.
What is the emergency-stop requirement?
Use the qualified robot platform's independent stop path; do not rely on a policy process alone.
资料来源
- microduck_rl repository来源核查 2026-08-31