Credits and licenses
Code uses Apache-2.0. Bundled robot geometry uses CC BY-NC-SA 4.0, including its noncommercial and share-alike conditions. The code license does not override asset licenses.
- Pollen Robotics MicroDuck: robot geometry, kinematics and converted GLB/STL. CC BY-NC-SA 4.0. Racer display colours are modified.
- MicroDuck RL and official simulator: robot/control source and starting-stance policy. Apache-2.0.
- Fast run: checkpoint 13194, continued from HannesVonEssen/microduck-running checkpoint 12195. Forward roll 6098 and learned recovery are existing project continuations. Bundled manifests retain model provenance. Apache-2.0.
- Champion dance: existing trained policy derived from DuckEMW. Apache-2.0. No third-party music, lyrics, or recordings are bundled.
- BAM servo adaptation: © 2025 Marc Duclusaud and Grégoire Passault. Apache-2.0.
- Bungee: David Jonathan Ross. SIL Open Font License 1.1.
- Three.js, Vite, ONNX Runtime and @xmldom/xmldom: MIT. MuJoCo: Apache-2.0. Dependencies retain their own notices.
来源与许可
代码采用 Apache-2.0。捆绑的机器人几何采用 CC BY-NC-SA 4.0，包含非商业和相同方式共享条件；代码许可不覆盖资源许可。
- Pollen Robotics 提供 MicroDuck 机器人几何、运动学和转换后的 GLB / STL。三位选手修改了显示颜色，原几何许可继续有效。
- MicroDuck RL 与官方模拟器提供机器人、控制代码和发车站立策略，采用 Apache-2.0。
- 极速跑 13194 续训自 HannesVonEssen/microduck-running 的 12195 检查点。前滚翻 6098 与学习起身复用本项目已有续训策略，来源保存在捆绑模型清单中，采用 Apache-2.0。
- 冠军舞蹈使用已有的 DuckEMW 衍生训练策略，采用 Apache-2.0。未捆绑第三方音乐、歌词或录音。
- BAM 舵机适配由 Marc Duclusaud 与 Grégoire Passault 编写，采用 Apache-2.0。Bungee 字体由 David Jonathan Ross 设计，采用 SIL OFL 1.1。其余依赖保留各自许可。