Pinned
I used RL to train microduck to run as fast as it can.
results: median 0.93 m/s, peak 1-second bursts up to 1.21 m/s. (~2.3× the stock walking speed cap, on a 25 cm robot that's ~3.7 body lengths per second, scaled to human height, that's ~6.5 m/s!)
> simulation stack: mujoco
