multimodalart/microduck-ar

Microduck AR

The Microduck robot walking on your real floor: real MuJoCo physics (WebAssembly) + the real trained RL policies (onnxruntime-web, 50 Hz) inside a WebXR immersive-ar session. Scan the floor, tap to place the ~25 cm duck at true scale, drive it with a floating stick, kick the ball, quack.

No server: physics, policy inference and rendering all run in the browser.

AR support

• —Android Chrome - native WebXR, works out of the box.
• —iPhone / iPad - Safari has no WebXR. This app integrates Variant Launch: register this domain there (free tier), put the key in window.VL_KEY in index.html, and iOS visitors get true ARKit world tracking via an instant App Clip.
• —Anywhere else - the "3D preview" button runs the identical sim with orbit controls.

Controls (in AR / preview)

• —Floating stick (left half of the screen): forward / back + turn
• —KICK: one-shot blind kick, alternating feet
• —PICK: peck the ground and stand back up
• —ROLL: roulade + recover
• —QUACK: chirp + beak (hold to keep the beak open)
• —BALL: (re)spawn the beach ball in front of the duck
• —SIZE: 1x / 2x / 3x visual scale (physics stays true-scale)
• —MOVE: re-place the duck on another surface
• —Desktop preview: WASD / arrows also steer

If the duck trips, the fall-recovery policy stands it back up on its own.

Credits

Robot, MJCF model and trained policies by Pollen Robotics / apirrone (mjlab_microduck). Sim core adapted from the Microduck Sandbox Space.