Microduck Open Sources Full RL Stack for Sim2Real Bipedal Robot
carlosdponx · x · 2026-08-28
Pollen Robotics released the reinforcement learning (RL) training environment for its Microduck bipedal robot. Built on MuJoCo Warp (mjlab) and PPO, the project provides a complete Sim2Real workflow:
- Tech Stack: Policies are trained at 50 Hz, exported to ONNX, and deployed on the real robot.
- Sim2Real Recipe: The repo encodes the full recipe, including BAM actuator physics, domain randomization, backlash simulation, and reward-design lessons distilled in AGENTS.md.
- Quickstart: Available on GitHub requiring CUDA GPU and uv, designed as the "Hello World" for legged robotics education.
Related event: Pollen Robotics open-sources Microduck bipedal robot RL training stack(5 posts)→
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