📌 这是个人 Fork 仓库（中文说明）

本仓库是 pollen-robotics/microduck 的个人派生版，由 yunloong-Y（GitHub）与 yunlong616（Gitee）维护，已设为 Public。

• 🇨🇳 本地运行（无需硬件）中文指南：见 LOCAL_RUN_CN.md —— 用 --fake 仿真模式在 macOS / Linux 跑通 robotd 控制循环与 robotctl 交互。
• 🤖 原版是 RK3566 上的鸭子机器人「大脑」：50Hz 控制环 + 15 路舵机 + 神经网络策略（ONNX）。
• 🔁 同步源：上游 main 分支（pollen-robotics）。本 Fork 在 main 上叠加了中文文档与一套 --fake 冒烟测试 CI。

想看原版项目与购买硬件，请回上游：https://github.com/pollen-robotics/microduck

Microduck

A tiny biped robot that moves using reinforcement learning policies.

Get yours here · Cheat sheet · Training the policies · How it works · Contributing

---

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.

The policies it runs are trained next door, in microduck_rl — MuJoCo and PPO, the sim2real recipe, and the export to ONNX that this repo loads.

It does things

walk.MP4	roller_cut.mp4
It walks. Pick up a gamepad and drive.	It rolls. Put wheels on, hold D-pad up, and it loads the other brain.
grasp.MP4	standup.MP4
It picks things up. Beak to the floor, one button.	It gets back up. Knock it over and it stands itself up.

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	Every robotctl command: drive, configure, voice, chorale, theremin, wifi, updates, logs. Start here.
Gamepad	The full button mapping, and pairing a pad — once per pad, plus what to do when it will not bond.
duckctl	The robot from a laptop over Bluetooth, with no network and no ssh.
Updates	Install, roll back, pin. Every update is verified, health-gated and reversible.

You are building on it

microduck_rl	Where the policies come from: MuJoCo, PPO, domain randomisation, and the ONNX export this repo loads.
How it works	The whole system on one page — the daemons, the bus, how an update reaches a robot — then a page per part.
Set up a dev board	From a blank board to a robot that takes branch builds.
Dev cheat sheet	Branch builds, release candidates, driving from a laptop, and the restart traps after an update.
Push your branch	Build on your machine, install over ssh, about a minute.
CONTRIBUTING.md	Building, testing, layout, conventions, releasing.
Docs index	Everything, including the design pages and the open problems.

Under the hood

Rust, no framework, one workspace. robotd owns the control loop and the motor bus; updaterd installs signed releases and rolls them back when a robot comes up unhealthy; configd owns wifi and identity; btd is the Bluetooth path a phone uses; padd reads the gamepad; mediad streams the camera over WebRTC; tofd serves the depth sensor. They talk over one JSON-RPC contract on Unix sockets, and every client — the app, the console, the gamepad, your script — sends exactly the same calls.

The interesting decisions are written down: docs/design/ is why things are the way they are, and docs/project/ is what has gone wrong and what would close it.

A note on ducks

No duck was harmed in the making of this robot. Several were consulted.