[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-72411":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":9,"htmlUrl":10,"language":11,"languages":10,"totalLinesOfCode":10,"stars":12,"forks":13,"watchers":14,"openIssues":15,"contributorsCount":16,"subscribersCount":16,"size":16,"stars1d":17,"stars7d":18,"stars30d":19,"stars90d":16,"forks30d":16,"starsTrendScore":20,"compositeScore":21,"rankGlobal":10,"rankLanguage":10,"license":22,"archived":23,"fork":23,"defaultBranch":24,"hasWiki":25,"hasPages":23,"topics":26,"createdAt":10,"pushedAt":10,"updatedAt":27,"readmeContent":28,"aiSummary":29,"trendingCount":16,"starSnapshotCount":16,"syncStatus":30,"lastSyncTime":31,"discoverSource":32},72411,"Open_Duck_Mini","apirrone\u002FOpen_Duck_Mini","apirrone","Making a mini version of the BDX droid. https:\u002F\u002Fdiscord.gg\u002FUtJZsgfQGe","",null,"Python",3121,388,64,18,0,63,98,425,189,109.77,"Apache License 2.0",false,"v2",true,[],"2026-06-12 04:01:05","# Open Duck Mini v2\n\n\u003Ctable>\n  \u003Ctr>\n    \u003Ctd> \u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F2a407765-70ad-48dd-8a5d-488f82503716\" alt=\"1\" width=\"300px\" >\u003C\u002Ftd>\n    \u003Ctd> \u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F3b8fe350-73a9-4c9f-ad29-efc781be7aee\" alt=\"2\" width=\"300px\" >\u003C\u002Ftd>\n    \u003Ctd> \u003Cimg src=\"https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Ffd7e5949-1492-4d31-851f-feaa9b695557\" alt=\"3\" width=\"300px\" >\u003C\u002Ftd>\n   \u003C\u002Ftr> \n\u003C\u002Ftable>\n\nWe are making a miniature version of the BDX Droid by Disney. It is about 42 centimeters tall with its legs extended.\nThe full BOM cost should be under $400 !\n\nThis repo is kind of a hub where we centralize all resources related to this project. This is a working repo, so there are a lot of undocumented scripts :) We'll try to clean things up at some point.\n\n\n# State of sim2real\n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F58721d0f-2f95-4088-8900-a5d02f41bba7\n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F4129974a-9d97-4651-9474-c078043bb182\n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fa0afcd38-15d8-40c6-8171-a619107406b8\n\n\n# Updates\n\n> Update 02\u002F04\u002F2024: You can try two policies we trained : [this one](BEST_WALK_ONNX.onnx) and [this one](BEST_WALK_ONNX_2.onnx)\n> Run with the following arguments :\n> python v2_rl_walk_mujoco.py --onnx_model_path ~\u002FBEST_WALK_ONNX_2.onnx\n\n> Update 15\u002F03\u002F2025: join our discord server to get help or show us your duck :) https:\u002F\u002Fdiscord.gg\u002FUtJZsgfQGe\n\n> Update 07\u002F02\u002F2025: Big progress on sim2real, see videos above :)\n\n> Update 24\u002F02\u002F2025: Working hard on sim2real ! \n\n> Update 07\u002F02\u002F2025 : We are writing documentation on the go, but the design and BOM should not change drastically. Still missing the \"expression\" features, but they can be added after building the robot!\n\n> Update 22\u002F01\u002F2025 : The mechanical design is pretty much finalized (fixing some mistakes here and there). The current version does not include all the \"expression\" features we want to include in the final robot (LEDs for the eyes, a camera, a speaker and a microphone). We are now working on making it walk with reinforcement learning !\n\n# Community \n\n![duck_collage](https:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002Fe240c06e-769f-4c87-b65f-189a442cf1e9)\n\nJoin our discord community ! https:\u002F\u002Fdiscord.gg\u002FUtJZsgfQGe\n\n# CAD\n\nhttps:\u002F\u002Fcad.onshape.com\u002Fdocuments\u002F64074dfcfa379b37d8a47762\u002Fw\u002F3650ab4221e215a4f65eb7fe\u002Fe\u002F0505c262d882183a25049d05\n\nSee [this document](docs\u002Fprepare_robot.md) for getting from a onshape design to a simulated robot in MuJoCo (Warning, outdated. Has not been updated in a while)\n\n# RL stuff\n\nWe are switching to Mujoco Playground, see this [repo](https:\u002F\u002Fgithub.com\u002Fapirrone\u002FOpen_Duck_Playground)\n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F037a1790-7ac1-4140-b154-2c901d20d5f5\n\n\n## Reference motion generation for imitation learning \n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F4cb52e17-99a5-47a8-b841-4141596b7afb\n\nSee [this repo](https:\u002F\u002Fgithub.com\u002Fapirrone\u002FOpen_Duck_reference_motion_generator)\n\n## Actuator identification \n\nWe used Rhoban's [BAM](https:\u002F\u002Fgithub.com\u002FRhoban\u002Fbam)\n\n# BOM\n\nhttps:\u002F\u002Fdocs.google.com\u002Fspreadsheets\u002Fd\u002F1gq4iWWHEJVgAA_eemkTEsshXqrYlFxXAPwO515KpCJc\u002Fedit?usp=sharing\n\nChinese: https:\u002F\u002Fzihao-ai.feishu.cn\u002Fwiki\u002FAfAtw69vRigXaRk5UkbcrAiLnJw?from=from_copylink\n\n# Build Guide\n\n> New : you can now use the Tnkr guide ! https:\u002F\u002Ftnkr.ai\u002Fexplore\u002Fdocs\u002Fopen-duck-mini\u002Fopen-duck-mini-v2#home\n\nChinese: https:\u002F\u002Fzihao-ai.feishu.cn\u002Fwiki\u002Fspace\u002F7488517034406625281\n\n## Print Guide\n\nSee [print_guide](docs\u002Fprint_guide.md).\n\n## Assembly Guide\n\nSee [assembly guide (incomplete)](docs\u002Fassembly_guide.md).\n\n# Embedded runtime\n\nThis repo contains the code to run the policies on the onboard computer (Raspberry pi zero 2w) https:\u002F\u002Fgithub.com\u002Fapirrone\u002FOpen_Duck_Mini_Runtime\n\n# Training your own policies\n\nIf you want to train your own policies, and contribute to making the ducks walk nicely, see [this document](docs\u002Fsim2real.md)\n\n> Thanks a lot to HuggingFace and Pollen Robotics for sponsoring this project !\n","Open Duck Mini 是一个旨在制作迪士尼BDX机器人的迷你版本的开源项目。该项目使用Python语言开发，高度约为42厘米，总成本预计不超过400美元。其核心功能包括通过强化学习训练机器人行走，并利用MuJoCo进行仿真到现实的转换实验。技术特点涉及机械设计、运动控制及表情功能（如LED眼睛、摄像头、扬声器和麦克风）的实现。适用于对机器人技术感兴趣的研究者、爱好者以及教育场景，特别是那些希望低成本构建并探索人形机器人潜能的人群。此外，该项目鼓励社区参与，提供了一个交流与协作的良好平台。",2,"2026-06-11 03:41:55","high_star"]