Awesome MicroDuck

A curated list of software, simulators, policies, agent tools, hardware, and community projects for MicroDuck — the open-source 25 cm biped robot from Pollen Robotics.

Inclusion Criteria

To keep this list useful and honest:

• Relevance — the project must target MicroDuck directly, or belong to its lineage (Open Duck Mini), ecosystem (official Pollen Robotics tooling), or replicas/sim2sim ports of the same robot.
• Public — the repository, model, dataset, or page must be publicly accessible at submission time.
• One-line description — say what it does, not how good it is. No marketing adjectives.
• sim-only tag — entries that only run in simulation (no physical-robot support) are marked sim-only.
• Duplicates — independent projects sharing a name (e.g. two isaaclab-microduck forks) are both listed, linked to their own repos.
• Ordering — entries are sorted alphabetically within each section, case-insensitively.

Missing something? See Contributing.

Contents

• 🏛️ Official
• 📚 Documentation
• 🧪 Simulation and Training
• 🤸 Policies and Skills
• 📊 Datasets and Benchmarks
• 🤖 Agent Tools and MCP
• 🌐 Community Hubs and Registries
• 📱 Apps and Ports
• 🔧 Hardware and Fabrication
• 📰 Articles and Coverage
• 🎬 Videos
• 💬 Community
• 🧬 Lineage
• Related Lists
• Contributing
• License

🏛️ Official

• Meet Microduck - Blog post introducing the robot.
• microduck - Robot brain: robotd (50 Hz), mediad, padd, updater, 9 ONNX policies.
• microduck-gst-plugins - aarch64 GStreamer plugins for camera/audio pipelines.
• microduck-policies - 9 ONNX locomotion and manipulation policies (Apache-2.0).
• microduck_rl - mjlab/MuJoCo Warp + PPO training environment (requires CUDA).
• Microduck Sandbox - Official browser simulator (MuJoCo WASM + onnxruntime-web).
• Press Kit - Official press kit and brand assets.
• Product Page - Official product page.
• Store - Order Microduck ($399).

📚 Documentation

• Architecture - System architecture overview.
• Cheat Sheet - Quick reference for commands and shortcuts.
• Contributing Guide - How to contribute to the ecosystem.
• Design Docs - Design philosophy and decisions.
• Dev Board Setup - Raspberry Pi Zero 2 W setup.
• Docs Index - Central documentation hub.
• duckctl - CLI tool for robot management.
• MicroDuck Chinese Docs - Full Chinese translation of official documentation. sim-only
• Pair a Gamepad - Bluetooth gamepad pairing guide.
• Policy Channel Design - Policy branching and versioning.
• Roadmap - Milestones M1 through M9.

🧪 Simulation and Training

• duckbench - Benchmark suite for policies and hardware.
• isaaclab-microduck - NVIDIA Isaac Lab port for Microduck training.
• isaaclab-microduck - Alternative Isaac Lab implementation.
• microduck-ai-world - AI world simulation environment.
• MicroDuck Playground - Community playground (HF Space).
• microduck-rl-genesis - Genesis-based RL training environment.
• microduck-rl-lab - RL experimentation workspace.
• microduck-rl-on-thor - Thor-based RL training.
• microduck-rl-torch - PyTorch-based RL training.
• Microduck RL Ball Follow - Ball following policy demo (HF Space).
• microduck-ros2-isaac - ROS 2 + Isaac Sim integration.
• microduck-sim-playground - Interactive simulation playground.
• MicroDuck Swan Lake - Choreographed multi-duck performance.
• MicroDuck Unity Sim2Sim - Unity engine sim-to-sim pipeline.
• microduck_description - URDF/MJCF robot description packages.
• microduck-isaac - Isaac simulation environment.
• microduck-lab - Community training lab.
• microduck-lab - Apple Silicon optimized training.
• microduck-miniverse - Lightweight simulation environment.
• microduck_rl_unilab - University lab RL environment.
• Microduck School - Interactive policy teaching space (HF Space).
• OpenDuckMini Locomotion Training - Duck-shaped robot locomotion RL training.
• Wicroduck - Web-based Microduck simulation.

🤸 Policies and Skills

• flamingo-cycle - Flamingo-style cycling gait.
• Jump Playground - Jump height experimentation (HF Space).
• microduck-backflip - Backflip policy.
• microduck-beak-throw - Ball throwing with beak and recovery policy.
• Microduck Circus - Circus tricks policy collection.
• microduck-courier - Package delivery policy.
• microduck-detector - Object detection policy.
• microduck-max-height-jump - Maximum jump height policy.
• microduck-sidekick-dance - Dance choreography policy.
• microduck-step-up-policy - Step/stair climbing policy.
• mjlab waddle - Waddling gait on mjlab.
• moonwalk-backward - Moonwalk backward walking.
• More Policies on Hub - Full policy collection on Hugging Face Hub.
• nottyduck - Notyduck policy variant.
• polite-bow - Bowing gesture policy.
• Walking Yaw Ablation - Walking with yaw rotation study.

📊 Datasets and Benchmarks

• Microduck Ball Challenge - Ball manipulation benchmark (with stairs variant).
• Microduck Detection Dataset - Object detection training data (HF Dataset).
• Policy Golden Vectors - Reference policy observation vectors.
• Trajectory Dataset - Recorded motion trajectories (HF Dataset).

🤖 Agent Tools and MCP

• meckie-duck-gateway - API gateway for duck services.
• microduck-cli - Command-line interface for robot management.
• microduck-mcp - Alternative MCP implementation.
• microduck-mcp - Model Context Protocol server for Microduck control.
• Microduck Lab - gr.Workflow integration.
• MicroDuck TinyVLA - TinyVLA vision-language-action model.
• OpenCastor Integration - OpenCastor robot orchestration.
• quackd - CLI agent tool for duck commands.
• quacksat - Satellite/orbital simulation tool.
• Strands Robots Provider - Strands framework provider.

🌐 Community Hubs and Registries

• MicroDuck Flow - Tracking Chinese teams and individuals replicating Microduck.
• MicroduckHub - Community project registry and showcase.
• uDuck Registry - Community-maintained duck registry.

📱 Apps and Ports

• 3D Bipedal Teleop - 3D teleoperation interface.
• Duck on Desk - Desktop 3D Microduck that reacts to coding agent events. sim-only
• DuckKit - Developer toolkit for Microduck apps.
• Kinematic Viewer - Real-time kinematics visualizer.
• MicroDuck AR - AR overlay for the physical robot.
• Microduck Anatomy - Interactive anatomy explorer.
• Microduck Arena - Browser-native 3v3 RL football (MuJoCo WASM + ONNX, zero backend). sim-only
• MicroDuck Duel - Duck versus duck battle project. sim-only
• MicroDuck Habitat - Windows offline desktop virtual pet duck. sim-only
• MicroDuckModels - 3D model repository.
• Microduck Studio - Visual policy editor.
• Microduck WebXR - WebXR augmented reality experience.
• MicroDuckSwarm - Multi-duck swarm coordination.
• microduck-sim - iPhone simulation app.
• microduck-tracking - Motion tracking and analysis.
• microquack - Quack sound generator.
• RL Physics Overlay - Real-time physics visualization.
• specs-microduck - Technical specifications viewer.

🔧 Hardware and Fabrication

• ChinaMicroDuck - China-sourced component alternatives.
• Lego MicroDuck - Lego brick version of Microduck.
• MicroDuck 3D - STL models and MuJoCo MJCF extracted from official sources.
• MicroDuck Print Pack - 47 printable STL files + parts list + renders (CC BY-NC-SA).
• MicroDuck Replica - Community hardware replica.
• MicroDuck Replica Kit - Functional replica kit: BOM, hardware research, MJCF assembly.
• microduck-diy - DIY build guide and BOM.
• microduck-hardware-replica - Hardware replication guide.
• microduck-replica - Community replica project.
• OpenMicroDuck - Open-source hardware reference design.

📰 Articles and Coverage

• Digital Trends - Consumer tech review.
• Engadget - Hands-on review.
• Hacker News (700+ points) - Community discussion (top post).
• IEEE Spectrum - Robotics industry coverage.
• Interesting Engineering - Engineering deep-dive.
• MarkTechPost - AI/ML coverage.
• Pointcast 031 - Newsletter feature.
• TechCrunch - Coverage of Microduck launch.
• The New Stack - Developer perspective.
• The Register - Technical analysis.

🎬 Videos

• Bloomberg Tech - TV coverage.
• Global News - News segment.
• Meet Microduck - Product introduction.
• Microduck Sim 2 Real - Sim-to-real transfer demo.
• We Made a New Robot - Pollen Robotics announcement video.

💬 Community

• Hugging Face Org - HF organization with models and datasets.
• Pollen Robotics Discord - Official Discord server.
• X (Twitter) - Official X account.
• YouTube Channel - Official YouTube channel.

🧬 Lineage

• microduck_maploc_rs - Rust-based mapping and localization.
• microduck_runtime (legacy) - Legacy runtime, superseded by microduck.
• Open Duck Mini - Predecessor robot platform.
• Open Duck Mini Runtime - Runtime for Open Duck Mini.

Related Lists

• awesome-robotics - Broader robotics resources.
• awesome-reinforcement-learning - RL papers, code, and courses.
• awesome-mujoco - MuJoCo physics engine ecosystem.
• awesome-sim2real - Sim-to-real transfer research.
• awesome-humanoid-robots - Humanoid and biped robot platforms.
• Open Duck Mini - The predecessor this ecosystem grew from.

Contributing

Contributions welcome! Please:

1. Read the Inclusion Criteria first.
2. Add your entry alphabetically in the right section, using the format - [Name](url) - One-line description of what it does. (note the trailing period).
3. Tag simulation-only projects with sim-only.
4. One entry (or one coherent group) per PR, with a link proving the project exists and is public.
5. Fix broken links and typos too — those PRs are just as valuable.

By contributing, you agree to release your changes under CC0-1.0.

License

This list is released under Creative Commons Zero v1.0 Universal (CC0-1.0). To the extent possible under law, the author has waived all copyright and related or neighboring rights to this work.