Five deployment files, with a fixed source
The October 29 merged source at ea80119b contains OpenMD_walk, OpenMD_stand, OpenMD_ground_pick, OpenMD_kick_right and OpenMD_roulade ONNX files. We downloaded only those five small files for SHA 256, byte-size and Git-blob checks against the published index; all matched. We did not load ONNX, run inference, train or test hardware, and do not redistribute the files.
The author specifies observations [1,61] → actions [1,14] and normalization baked into the graph. A 15-entry HOME list includes mouth; it is not a reason to change the output dimension. The index mentions checkpoint names, but the repository’s policy directory distributes no .pt files. The preconfigured image link is separately hosted and was not downloaded or verified here.
The stand file is not a stand-up action
The walk slot uses openmd_velocity iteration 9999. The stand slot uses openmd_velstand iteration 17500 with stand_on_zero_command=true: zero commanded twist selects standing, nonzero twist uses walking. This assignment differs from other MicroDuck policy combinations; copying a filename without the slot configuration can change behavior.
sitstand is none and its model record is null because the author did not release an acceptable result; kick_left is also none. Ground pick is an ONNX-only patched export with ankle gain 0.37 baked in. The documented kick duration is 0.5 s and roll duration 1 s. These are the author’s deployment settings, not motion tests by this site.
Keep the runtime and hardware assumptions together
The published resolved settings refer to robotd 0.13.3: action_scale 0.7, standing_action_scale 1.0 and limp_fall=false, alongside other recorded defaults. Do not assume those defaults or a JSON index import unchanged into official 0.18.1 or fanhao 375’s separate native build. Matching observation dimensions alone does not establish joint order, actuator dynamics, limits or calibration compatibility.
Before any owner-led deployment, record the exact HD1910 design, runtime, joint map, selected slots, resolved parameters and recovery path. The project’s README and root LICENSE describe hardware licensing differently; obtain a clear license for the intended artifact before redistribution. A source-linked guide and byte checks do not establish a portable trained system or complete training reproducibility.
- Keep the complete policies folder and pinned settings together when inspecting paths and hashes.
- Leave unavailable sitstand and left kick unset; do not substitute an unrelated official file.
- Compare hardware, joint mapping and runtime defaults before considering a deployment.
What would you like to understand next?
Keep the source, your environment and your observations together.