{
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  "abi": {
    "observationDimensions": 61,
    "actionDimensions": 14,
    "controlFrequencyHz": 50,
    "inputName": "obs",
    "outputName": "actions",
    "observationNormalizer": "embedded"
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      "label": "Alpha walk",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "continuous",
      "description": "Velocity-tracking walking with keyboard forward, reverse, and turn commands.",
      "evidence": "Pinned Pollen simulator policy; canonical 61D \u2192 14D browser baseline.",
      "limitation": "Proprioceptive locomotion; it does not see objects.",
      "path": "policies/BEST_alpha_walking.onnx",
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      "sha256": "e36332d383997d51401897734cd3e79cf5038406feddb18b4d57ecfb141daa6c",
      "runtimeKey": "walk",
      "commandEncoding": "twist velocity plus optional head and body pose commands",
      "trainingTask": "Mjlab-Velocity-Flat-MicroDuck",
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        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "rough-walk-e",
      "label": "Rough walk",
      "provenance": "community",
      "morphology": "legs",
      "activation": "continuous",
      "description": "A drop-in walking brain fine-tuned on grids, small stairs, rubble, and slopes.",
      "evidence": "Community simulation battery reported 14 falls in 110 terrain trials versus 32 for its alpha baseline; browser ABI and metadata verified locally.",
      "limitation": "Simulator-only and hardware-unvalidated; published limits include descending steps at or above 2 cm and weaker push recovery.",
      "path": "policies/community_rough_walk_e.onnx",
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      "sha256": "5aa423bd693e431b19e2ead77f99cbae6184e40a529eb2f7c1b4f85bb7f57040",
      "runtimeKey": "roughWalkE",
      "commandEncoding": "twist velocity in [vx, vy, wz], optional four-joint head command, zero-padded body command",
      "trainingTask": "Mjlab-Hostile-FinetuneFeetProgress-MicroDuck",
      "source": {
        "repoId": "RemiFabre/microduck-rough-walk-e",
        "repoType": "model",
        "revision": "fa7b27eeb5610d3b351362f4bd71691ee8be3d7d",
        "url": "https://huggingface.co/RemiFabre/microduck-rough-walk-e/tree/fa7b27eeb5610d3b351362f4bd71691ee8be3d7d",
        "retrievedAt": "2026-09-01",
        "licenseNotice": "The Hugging Face model card declares Apache-2.0. Review the pinned repository and THIRD_PARTY_NOTICES.md before redistribution."
      },
      "license": "The Hugging Face model card declares Apache-2.0. Review the pinned repository and THIRD_PARTY_NOTICES.md before redistribution."
    },
    {
      "id": "roller-drive",
      "label": "Roller drive",
      "provenance": "supplied",
      "morphology": "rollers",
      "activation": "continuous",
      "description": "Load the passive-wheel morphology and drive with bounded twist commands.",
      "evidence": "Pinned supplied roller policy with its matching MuJoCo morphology and kinematics.",
      "limitation": "Requires the matching roller model and policy stack.",
      "path": "policies/BEST_roller.onnx",
      "bytes": 793685,
      "sha256": "cf05651d2708a2f9364212e86b866c97a70ace8131c492500105e8f28bf99afd",
      "runtimeKey": "drive",
      "commandEncoding": "twist velocity; unused head and body command slots remain zero padded",
      "trainingTask": "Mjlab-Velocity-Flat-MicroDuck-Rollers",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "sitstand",
      "label": "Sit / stand",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "toggle",
      "description": "A gentle commanded posture transition that hands back to walking.",
      "evidence": "Pinned supplied commanded-transition policy; posture intent stays inside the shared command block.",
      "limitation": "The command requests posture; it is not a scripted animation.",
      "path": "policies/BEST_alpha_sitstand.onnx",
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      "runtimeKey": "sitstand",
      "commandEncoding": "posture request in the twist command block; head pose remains commandable",
      "trainingTask": "Mjlab-SitStand-Flat-MicroDuck",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "flamingo-cycle",
      "label": "One-foot balance",
      "provenance": "community",
      "morphology": "legs",
      "activation": "toggle",
      "description": "Shift onto either supporting foot, lift the other, hold, and lower under the same policy.",
      "evidence": "Community simulator policy with a published two-slot command contract, 10/10 authored battery, and 24 randomized push trials; browser ABI and metadata verified locally.",
      "limitation": "Simulator-only and hardware-unvalidated; published stress testing includes two backward-push falls.",
      "path": "policies/community_flamingo_cycle.onnx",
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      "runtimeKey": "flamingo",
      "commandEncoding": "twist[0] is the lift flag; twist[1] selects the supporting side; all other command slots are zero",
      "trainingTask": "Mjlab-FlamingoCycleHard-Flat-MicroDuck",
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        "repoId": "RemiFabre/microduck-flamingo-cycle",
        "repoType": "model",
        "revision": "6646428394c6997106d2dc07c1588f20f6fea026",
        "url": "https://huggingface.co/RemiFabre/microduck-flamingo-cycle/tree/6646428394c6997106d2dc07c1588f20f6fea026",
        "retrievedAt": "2026-09-01",
        "licenseNotice": "The Hugging Face model card declares Apache-2.0. Review the pinned repository and THIRD_PARTY_NOTICES.md before redistribution."
      },
      "license": "The Hugging Face model card declares Apache-2.0. Review the pinned repository and THIRD_PARTY_NOTICES.md before redistribution."
    },
    {
      "id": "ground-pick",
      "label": "Ground pick",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "one-shot",
      "description": "Crouch, touch low with the mouth, and return to the walking policy.",
      "evidence": "Pinned supplied phase-driven policy using cosine/sine in the first two command slots.",
      "limitation": "Phase commanded and blind to object identity.",
      "path": "policies/alpha_ground_pick.onnx",
      "bytes": 793685,
      "sha256": "ffbf5109982ff999b0ba53afe86b9ae731bbec679d67fb7f8ab4c52152c88872",
      "runtimeKey": "groundpick",
      "commandEncoding": "cosine and sine phase in the first two twist slots",
      "trainingTask": "Mjlab-GroundPick-Flat-MicroDuck",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "kick-left",
      "label": "Kick left",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "one-shot",
      "description": "Run the supplied left-foot kick and return to walking.",
      "evidence": "Pinned supplied timed policy; the 14-action handoff is recorded in human training traces.",
      "limitation": "Blind one-shot; the operator is responsible for alignment.",
      "path": "policies/ball_kick_left.onnx",
      "bytes": 793685,
      "sha256": "d6928284dccd3dd61e08bf2f760effa74309fbefd97b2b31afb2a60f526d196a",
      "runtimeKey": "kickL",
      "commandEncoding": "zeroed unified command block",
      "trainingTask": "Mjlab-BallKick-Flat-MicroDuck",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "kick-right",
      "label": "Kick right",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "one-shot",
      "description": "Run the supplied right-foot kick and return to walking.",
      "evidence": "Pinned supplied timed policy; the 14-action handoff is recorded in human training traces.",
      "limitation": "Blind one-shot; the operator is responsible for alignment.",
      "path": "policies/ball_kick_right.onnx",
      "bytes": 793685,
      "sha256": "147a32c388c6b19111b3ac3b550a9a6dc8b8bf267118af4d8c3712522eedb5af",
      "runtimeKey": "kickR",
      "commandEncoding": "zeroed unified command block",
      "trainingTask": "Mjlab-BallKick-Flat-MicroDuck",
      "source": {
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        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "roulade",
      "label": "Forward roll",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "one-shot",
      "description": "Attempt the supplied forward-roll maneuver, then recover to walking.",
      "evidence": "Pinned supplied dynamic policy with upright handoff and reset guard.",
      "limitation": "Dynamic simulator policy; success depends on current pose and contact.",
      "path": "policies/roulade.onnx",
      "bytes": 793685,
      "sha256": "3d60da08fc13f29c1b57f41977aa898132c0d60042100149d8e775affcbca32b",
      "runtimeKey": "roll",
      "commandEncoding": "zeroed unified command block",
      "trainingTask": "Mjlab-Roulade-Flat-MicroDuck",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "stand",
      "label": "Fall recovery",
      "provenance": "supplied",
      "morphology": "legs",
      "activation": "automatic",
      "description": "The recovery policy takes over after the runtime confirms a sustained fall.",
      "evidence": "Pinned supplied recovery actor behind debounced fall detection and sustained-upright exit criteria.",
      "limitation": "Armed automatically and intentionally unavailable as an upright trick.",
      "path": "policies/BEST_alpha_stand.onnx",
      "bytes": 793705,
      "sha256": "1569268713e40deea795dd2922dba50d3621e15a872855408b6b1b125b1c094b",
      "runtimeKey": "stand",
      "commandEncoding": "zeroed unified command block",
      "trainingTask": "Mjlab-StandUp-Flat-MicroDuck",
      "source": {
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        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    },
    {
      "id": "roller-crouch",
      "label": "Roller crouch",
      "provenance": "supplied",
      "morphology": "rollers",
      "activation": "one-shot",
      "description": "Run the phase-driven crouch-and-glide policy on passive wheels.",
      "evidence": "Pinned supplied phase policy loaded with the roller morphology.",
      "limitation": "Roller-only; it cannot run on the normal foot morphology.",
      "path": "policies/BEST_roller_crouch.onnx",
      "bytes": 793685,
      "sha256": "a1a084be240469c76ac9d3fa44d4792f16d4b1da60398b3ecd3cfc5e2244d990",
      "runtimeKey": "crouch",
      "commandEncoding": "cosine and sine phase in the first two twist slots",
      "trainingTask": "Mjlab-RollerCrouch-Flat-MicroDuck",
      "source": {
        "repoId": "pollen-robotics/microduck-simulator",
        "repoType": "space",
        "revision": "1261013e7e28ba2a6878bd76ae573751c0e4b457",
        "url": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator/tree/1261013e7e28ba2a6878bd76ae573751c0e4b457/app/public/policies",
        "retrievedAt": "2026-08-31",
        "licenseNotice": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
      },
      "license": "The Space snapshot has no standalone LICENSE. See THIRD_PARTY_NOTICES.md and review upstream terms before redistribution or commercial use."
    }
  ],
  "builtinBrains": [
    {
      "id": "factory",
      "name": "Factory walker",
      "description": "NottyDuck's Nimble walker with every skill at full speed and the strongest reviewed kicks."
    },
    {
      "id": "trail",
      "name": "Trail walker",
      "description": "The community rough-terrain walker for slopes, grids and rubble. Simulator-only."
    },
    {
      "id": "striker",
      "name": "Striker",
      "description": "Kick-first: the strongest reviewed kicks, a touch slower to line up."
    },
    {
      "id": "careful",
      "name": "Careful walker",
      "description": "Half-speed, gentle turns for desk edges and precise approaches."
    }
  ],
  "limits": {
    "maxPolicies": 16,
    "maxBrains": 16,
    "maxPolicyBytes": 4194304,
    "maxLibraryBytes": 33554432
  },
  "release": "releases/d7cd4e24e5482ab8eb7244308f8ff198d5718e4bd8b7d9b31854286bdfd2d23d",
  "bucket": "reachjalil/nottyduck-demo-assets"
}