{"id":11633,"date":"2026-08-28T20:03:45","date_gmt":"2026-08-28T12:03:45","guid":{"rendered":"https:\/\/infernews.com\/blog\/microduck-a-tiny-biped-duck-robot\/"},"modified":"2026-08-28T20:07:54","modified_gmt":"2026-08-28T12:07:54","slug":"microduck-a-tiny-biped-duck-robot","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/microduck-a-tiny-biped-duck-robot\/","title":{"rendered":"Microduck\uff1a\u7d30\u5c0f\u96d9\u8db3\u6a5f\u68b0\u9d28\u7684 RL \u63a7\u5236\u8166"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/pasted-460a24c34ff0.jpg\" alt=\"Repository image for pollen-robotics\/microduck\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Microduck \u4fc2\u4e00\u500b\u6a5f\u68b0\u4eba\u63a7\u5236\u9805\u76ee\uff0c\u6838\u5fc3\u4fc2\u70ba\u7d04 25 \u5398\u7c73\u3001800 \u514b\u5605\u96d9\u8db3\u6a5f\u68b0\u9d28\u63d0\u4f9b\u57f7\u884c\u5c64\uff0c\u89e3\u6c7a\u6b65\u884c\u3001\u8d77\u8eab\u3001\u62fe\u53d6\u540c\u6a21\u5f0f\u5207\u63db\u5462\u985e\u52d5\u4f5c\u63a7\u5236\u554f\u984c\u3002\u5b83\u5514\u53ea\u505a\u55ae\u4e00\u6f14\u793a\uff0c\u800c\u4fc2\u628a\u7121\u7dda\u96fb\u3001\u76f8\u6a5f\u3001\u66f4\u65b0\u6d41\u7a0b\u540c 50 Hz \u63a7\u5236\u8ff4\u5708\u4e00\u9f4a\u653e\u5165\u540c\u4e00\u500b\u57f7\u884c\u74b0\u5883\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5462\u500b\u9805\u76ee\u5605\u505a\u6cd5\u4fc2\u55ba Rockchip RK3566 \u4e0a\u8dd1\u5e7e\u500b daemon\uff0c\u4e26\u7528\u795e\u7d93\u7b56\u7565\u9a45\u52d5 15 \u500b\u4f3a\u670d\u3002\u7b56\u7565\u672c\u8eab\u55ba\u53e6\u4e00\u500b\u9805\u76ee microduck_rl \u8a13\u7df4\uff0c\u63a1\u7528 MuJoCo\u3001PPO \u540c sim2real\uff0c\u518d\u532f\u51fa\u505a ONNX \u4ffe\u9019\u908a\u8f09\u5165\uff1b\u539f\u59cb\u8cc7\u6599\u672a\u63d0\u4f9b\u5b8c\u6574\u5b89\u88dd\u6216\u90e8\u7f72\u6b65\u9a5f\uff0c\u53ea\u80fd\u78ba\u8a8d\u4f62\u6709 cheat sheet \u540c duckctl \u7b49\u64cd\u4f5c\u5165\u53e3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img data-dominant-color=\"cbcaca\" data-has-transparency=\"false\" style=\"--dominant-color: #cbcaca;\" loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"401\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/image-5.png\" alt=\"\" class=\"wp-image-11635 not-transparent\" srcset=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/image-5.png 1024w, https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/image-5-300x117.png 300w, https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/08\/image-5-766x300.png 766w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u540c\u4e00\u822c\u9059\u63a7\u6a5f\u68b0\u4eba\u76f8\u6bd4\uff0cMicroduck \u5c07\u63a7\u5236\u3001\u611f\u77e5\u540c\u66f4\u65b0\u6a5f\u5236\u7d81\u5f97\u66f4\u7dca\uff0c\u91cd\u9ede\u4fc2\u8b93\u7d30\u5c0f\u96d9\u8db3\u5e73\u53f0\u53ef\u4ee5\u7a69\u5b9a\u63a5\u6536\u65b0\u8edf\u4ef6\uff0c\u800c\u5514\u6703\u5237\u58de\u6a5f\u5668\u3002\u5b83\u4ea6\u652f\u63f4\u5169\u5957\u884c\u8d70\u5f62\u614b\uff0c\u884c\u8d70\u540c\u8f2a\u5f0f\u6a21\u5f0f\u53ef\u4ee5\u5207\u63db\uff0c\u986f\u793a\u51fa\u786c\u4ef6\u5f62\u614b\u540c\u7b56\u7565\u4e4b\u9593\u5605\u914d\u5408\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4ee5 RL policies \u9a45\u52d5\u96d9\u8db3\u52d5\u4f5c\uff0c\u800c\u5514\u4fc2\u53ea\u9760\u56fa\u5b9a\u8173\u672c<\/li>\n\n\n\n<li>\u5728 RK3566 \u4e0a\u904b\u884c\uff0c\u63a7\u5236\u8ff4\u5708\u70ba 50 Hz<\/li>\n\n\n\n<li>\u7531 microduck_rl \u63d0\u4f9b\u8a13\u7df4\u8207 ONNX \u532f\u51fa<\/li>\n\n\n\n<li>\u5177\u5099\u76f8\u6a5f\u3001\u7121\u7dda\u96fb\u540c\u66f4\u65b0\u7ba1\u7406<\/li>\n\n\n\n<li>\u76ee\u6a19\u5834\u666f\u504f\u5411\u6a5f\u68b0\u4eba\u958b\u767c\u3001\u63a7\u5236\u9a57\u8b49\u540c\u73fe\u5834\u64cd\u4f5c<\/li>\n<\/ul>\n\n\n<div\n    \tclass=\"align wp-block-vpb-video\"    id='vpbpVideoPlayer-1'\n    data-attributes='{&quot;source&quot;:&quot;https:\\\/\\\/pollen-robotics.com\\\/assets\\\/microduck\\\/gallery\\\/roller-skating.mp4&quot;,&quot;repeat&quot;:true,&quot;autoplay&quot;:true,&quot;muted&quot;:true,&quot;align&quot;:&quot;&quot;,&quot;poster&quot;:&quot;&quot;,&quot;controls&quot;:{&quot;play-large&quot;:true,&quot;restart&quot;:false,&quot;rewind&quot;:true,&quot;play&quot;:true,&quot;fast-forward&quot;:true,&quot;progress&quot;:true,&quot;current-time&quot;:true,&quot;duration&quot;:false,&quot;mute&quot;:true,&quot;volume&quot;:true,&quot;pip&quot;:false,&quot;airplay&quot;:false,&quot;captions&quot;:false,&quot;settings&quot;:true,&quot;download&quot;:false,&quot;fullscreen&quot;:true},&quot;captions&quot;:[],&quot;ratio&quot;:&quot;16:9&quot;,&quot;accentColor&quot;:&quot;&quot;,&quot;lazyLoad&quot;:false,&quot;width&quot;:&quot;100%&quot;,&quot;radius&quot;:&quot;0px&quot;,&quot;resetOnEnd&quot;:false,&quot;autoHideControl&quot;:true,&quot;isSetup&quot;:false}'\n><\/div>\n\n\n<p class=\"wp-block-paragraph\">\u5c0d\u505a\u6a5f\u68b0\u4eba\u7814\u7a76\u3001\u63a7\u5236\u7cfb\u7d71\u6574\u5408\uff0c\u6216\u8005\u60f3\u6e2c\u8a66 sim2real \u6d41\u7a0b\u5605\u5718\u968a\uff0c\u5462\u500b\u9805\u76ee\u6703\u8f03\u6709\u53c3\u8003\u50f9\u503c\u3002\u8a55\u4f30\u6578\u5b57\u55ba\u63d0\u4f9b\u8cc7\u6599\u5165\u9762\u5514\u591a\uff0c\u4f46\u5df2\u7d93\u53ef\u4ee5\u898b\u5230\u5b83\u628a\u300c\u7d30\u9ad4\u7a4d\u3001\u96d9\u8db3\u3001\u53ef\u66f4\u65b0\u300d\u5462\u5e7e\u500b\u9650\u5236\u540c\u6642\u8655\u7406\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/github.com\/pollen-robotics\/microduck_rl\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/github.com\/pollen-robotics\/microduck\" rel=\"noopener noreferrer\"><strong>GitHub<\/strong><\/a> \u00b7 <a href=\"https:\/\/store.pollen-robotics.com\/products\/microduck\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Microduck \u628a\u96d9\u8db3\u884c\u8d70\u3001\u62fe\u53d6\u3001\u8d77\u8eab\u8207\u9059\u63a7\u64cd\u4f5c\u6536\u9032\u540c\u4e00\u5957\u63a7\u5236\u7cfb\u7d71\u3002\u5b83\u66f4\u50cf\u4e00\u500b\u53ef\u843d\u5730\u7684\u6a5f\u68b0\u4eba\u63a7\u5236\u9805\u76ee\uff0c\u800c\u4e0d\u53ea\u662f\u5c55\u793a\u52d5\u4f5c\u7684\u6a23\u6a5f\u3002<\/p>\n","protected":false},"author":8,"featured_media":11632,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"wpai_generated_summary":"","footnotes":""},"categories":[133,127,184],"tags":[],"class_list":["post-11633","post","type-post","status-publish","format-standard","hentry","category-133","category-127","category-robotic"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11633","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=11633"}],"version-history":[{"count":2,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11633\/revisions"}],"predecessor-version":[{"id":11637,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/11633\/revisions\/11637"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/11632"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=11633"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=11633"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=11633"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}