---
tags:
- microduck
- robotics
- reinforcement-learning
- onnx
library_name: microduck
pipeline_tag: robotics
---

# standup

Get-up policy (Mjlab-StandUp-Flat-MicroDuck), simulation only: 25,000 iterations (the maker's 15,000 plus a 10,000 extension), 4096 envs, 407 min on one RTX 5090. Stands from sitting and from face down and holds standing; from flat on its back it freezes half-rolled (0 of 2 takes). Not yet tested on a real Microduck.

A **episodic** policy for the [microduck](https://github.com/pollen-robotics/microduck) (61-D observation, 14 actions, 50 Hz). Runs 6.0 s and returns itself to a standing pose.

## Run it on a robot

```bash
sudo robotctl policy add standup witcheer/microduck-standup
robotctl robot do standup
```

The observation normalizer is baked into `policy.onnx`; feed raw observations.
`manifest.json` follows schema 2 of the microduck policy manifest (`docs/policy-manifest.md` in the daemon repo).

## Training

- **repo**: `pollen-robotics/microduck_rl`
- **branch**: `develop`
- **commit**: `53b8971b6`