just had a quick look at microduck_rl the codebase is very elegant, i’d recommend reading the agent.md since it contains quite a few fun qui…

just had a quick look at microduck_rl the codebase is very elegant, i’d recommend reading the agent.md since it contains quite a few fun quirks for reward modeling like head tracking too tight impairs walking cause the head is 38% of the duck’s weight, so it naturally oscillates -> to solve this, smooth the head tracking error using ema, essentially penalizing only the dc bias also a few other quirks as you dig deeper into the codebase like how they model the backlash of the motor by adding an unactuated hinge (with very small range) in series with the motor gg @antoinepirrone https://github.com/pollen-robotics/microduck_rl

Source: Clem Delangue (X) | 2026-08-28