A community directory of downloadable behavior policies for Microduck.
uDuck Registry is a searchable catalog of community and official Microduck behavior policies. Each entry links to its canonical ONNX artifact and source, describes the robot and accessories it needs, and includes the relevant robotd configuration.
Microduck is a small biped robot from Pollen Robotics. Policies in this catalog use the shared 61-observation, 14-action, 50 Hz runtime contract.
| Status | Meaning |
|---|---|
| Hardware verified | Shipped by the upstream project or supported by physical-run evidence. |
| Hardware claimed | The author reports a physical run; the registry has not independently reproduced it. |
| Experimental | Community work that has not established physical deployment evidence. |
- Observation: 61 values — 48 proprioception values, 3 command values, 4 head-pose values, and 6 body-pose values.
- Action: 14 joint targets — 5 left-leg, 4 neck/head, and 5 right-leg outputs.
- Rate: 50 Hz with the policy's declared decimation and action scale.
- Actuator: Dynamixel XL330 motors using the declared Microduck actuator model.
- The beak actuator is outside the fixed 14-action policy interface.
The descriptor schema is registry/schema/behavior.schema.json.
The table below is generated from the descriptors in registry/behaviors/.
| Behavior | ID | Category | Status | Publisher | Setup | Preview |
|---|---|---|---|---|---|---|
| Acrobatic Roulade (Forward Roll) | roulade |
agility tricks | Hardware verified | Pollen Robotics | none | — |
| Alpha Dynamic Walk | alpha-walking |
locomotion | Hardware verified | Pollen Robotics | none | video + poster |
| Autonomous Ground Pick | ground-pick |
manipulation | Hardware verified | Pollen Robotics | none | video + poster |
| Dynamic Fall Recovery | fall-recovery |
recovery | Hardware verified | Pollen Robotics | none | video + poster |
| Impulse Ball Kick (Left Foot) | ball-kick-left |
manipulation | Hardware verified | Pollen Robotics | 70mm practice ball | video + poster |
| Impulse Ball Kick (Right Foot) | ball-kick-right |
manipulation | Hardware verified | Pollen Robotics | 70mm practice ball | — |
| Roller Blade Crouch Glide | roller-crouch |
roller skate | Hardware verified | Pollen Robotics | roller skate blades | — |
| Roller Skate Velocity Drive | roller-drive |
roller skate | Hardware verified | Pollen Robotics | roller skate blades | video + poster |
| Smooth Sit ↔ Stand | sit-stand |
locomotion | Hardware verified | Pollen Robotics | none | video + poster |
| Flamingo Cycle | flamingo-cycle |
agility tricks | Experimental | RemiFabre | none | video |
| Genesis Backlash Walk | genesis-backlash |
locomotion | Experimental | Macmachi | none | — |
| Genesis Flat Walk | genesis-velocity |
locomotion | Experimental | Macmachi | none | — |
| Genesis Rough-Terrain Walk | genesis-rough |
locomotion | Experimental | Macmachi | none | — |
| Maximum-Height Jump | max-height-jump |
agility tricks | Experimental | Thomas Burgess | none | loop + video |
| Microduck Courier | courier |
manipulation | Experimental | selinayfilizp | none | video + poster |
| Microduck Running | running |
locomotion | Experimental | HannesVonEssen | none | video |
| Rough Walk E | rough-walk-e |
locomotion | Experimental | RemiFabre | none | video |
| Rough Walk G | rough-walk-g |
locomotion | Experimental | RemiFabre | none | video |
| Vertical Jump | jump |
agility tricks | Experimental | Liyucheng1997 | none | — |
Pull requests touching registry/behaviors/ are automatically run through a
headless MuJoCo diagnostic (Sim Check workflow) when the descriptor declares
an explicit registry simulation recipe. The runner records exactly what it
observed and produces a standardized 512×512 review artifact; it does not claim
hardware validation or reproduce arbitrary publisher environments.
See simulation/README.md for the render standard,
scenario model, CI isolation rules, and unsupported cases.
The generated catalog is available at:
curl -s https://uduckmoves.com/registry.json | jq .The same snapshot is in public/registry.json. The static site also exposes one JSON endpoint per behavior at /api/behaviors/<id>.
Generate a starting descriptor with pnpm --silent new-behavior id=my-move name="My Move" category=locomotion author="Your Name", run pnpm check, include the refreshed README.md and public/registry.json, then open a pull request. See CONTRIBUTING.md for the descriptor shape and review expectations.
uDuck Registry is an independent community project and is not affiliated with Pollen Robotics or Hugging Face.
Registry code and site content are Apache-2.0; see LICENSE. Third-party policies, media, and upstream model assets remain under their respective licenses. See NOTICE for attribution details.