microduck

<p align="center">
  <img src="https://github.com/user-attachments/assets/c2f7c245-8217-46a1-8d1e-e0ba967cd969" alt="microduck" width="820">
</p>

<h1 align="center">Microduck</h1>

<p align="center">
  <em>A tiny biped robot that moves using reinforcement learning policies.</em>
</p>

<p align="center">
  <a href="https://pollen-robotics.com/microduck"><b>Get yours here</b></a> ·
  <a href="docs/robot/cheatsheet.md">Cheat sheet</a> ·
  <a href="https://github.com/pollen-robotics/microduck_rl">Training the policies</a> ·
  <a href="docs/design/architecture.md">How it works</a> ·
  <a href="CONTRIBUTING.md">Contributing</a>
</p>

<p align="center">
  <a href="https://github.com/pollen-robotics/microduck/actions/workflows/ci.yml"><img src="https://github.com/pollen-robotics/microduck/actions/workflows/ci.yml/badge.svg" alt="CI"></a>
</p>

---

**This repo is the duck's brain.** About 25 cm and 800 g of robot, run by a handful of daemons on a
Rockchip RK3566: a 50 Hz control loop driving fifteen servos from neural policies, the radios and
the camera, and the update machinery that gets new software onto a robot without bricking it.

Everything you need to run a Microduck is here. **If you want one,
[get yours here](https://pollen-robotics.com/microduck).**

The policies it runs are trained next door, in
**[microduck_rl](https://github.com/pollen-robotics/microduck_rl)** — MuJoCo and PPO, the sim2real
recipe, and the export to ONNX that this repo loads.

## It does things

<table>
<tr>
<td width="50%">
  <video src="https://github.com/user-attachments/assets/356a6011-8e0d-4b28-bda9-da78646583a3" controls width="100%"></video>
</td>
<td width="50%">
  <video src="https://github.com/user-attachments/assets/abfbf250-1b1c-42cb-8430-00267e2b148a" controls width="100%"></video>

</td>
</tr>
<tr>
<td><b>It walks.</b> Pick up a gamepad and drive.</td>
<td><b>It rolls.</b> Put wheels on, ask for roller mode, and it loads the other brain.</td>
</tr>
<tr>
<td width="50%">
  <video src="https://github.com/user-attachments/assets/7e70c1da-e120-428f-ae0b-f4de62f25984" controls width="100%"></video>
</td>
<td width="50%">
  <video src="https://github.com/user-attachments/assets/3eef63a5-6f84-47cf-90de-e717e6d7f8f0" controls width="100%"></video>
</td>
</tr>
<tr>
<td><b>It picks things up.</b> Beak to the floor, one button.</td>
<td><b>It gets back up.</b> Knock it over and it stands itself up.</td>
</tr>
</table>

It also sits, kicks a ball, rolls forward on command, and quacks in a voice that is its own.

## Where to find things

### You have a duck

| | |
|---|---|
| [Cheat sheet](docs/robot/cheatsheet.md) | Every `robotctl` command: drive, configure, voice, chorale, theremin, wifi, updates, logs. Start here. |
| [Gamepad](docs/robot/cheatsheet.md#gamepad-configd) | The full button mapping, and pairing a pad — [once per pad](docs/robot/pair-a-gamepad.md), plus what to do when it will not bond. |
| [`duckctl`](docs/robot/duckctl.md) | The robot from a laptop over B