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Biped robot•apirrone
Reference CaseSauceSnap reference visual

Open Duck Mini

A miniature biped robot project combining printable mechanical resources, reinforcement-learning locomotion, imitation-learning tools and an embedded policy runtime.

Biped robotReinforcement learningImitation learning3D printing
Explore the breakdown Review evidence
SYSTEM
01Mechanical and fabrication resources
02Simulation and reinforcement-learning workflow
03Imitation-learning and actuator workflow
04Embedded policy runtime
SauceSnap reference visual
SauceSnap reference visualNot an official mechanical drawing
Content modeReference Case
RightsApache-2.0
Evidence coverage100%
Case completeness100%
01 / What it is

Open Duck Mini, from published facts.

A miniature biped robot project combining printable mechanical resources, reinforcement-learning locomotion, imitation-learning tools and an embedded policy runtime.

01

Reinforcement-learning locomotion development

The project is developing walking behavior with reinforcement learning.

1
02

Run trained walking policies

The repository reports two trained ONNX policies.

1
03

Reference-motion workflow for imitation learning

The project points to a separate reference-motion generator repository.

1
04

Actuator identification

The project reports using Rhoban BAM for actuator identification.

1
02 / System map

A sourced functional map—not a reverse-engineered schematic.

This system view follows the documented functional blocks and keeps unknown internals explicit.

01

Mechanical and fabrication resources

Connects the robot design, external BOM, print guide, and incomplete assembly guide.

Onshape3D printing
1
02

Simulation and reinforcement-learning workflow

Covers sim2real development, MuJoCo tooling, and policy training.

MuJoCoMujoco PlaygroundONNX
1
03

Imitation-learning and actuator workflow

Provides reference-motion generation and actuator identification tools.

Open Duck reference motion generatorRhoban BAM
1
04

Embedded policy runtime

Runs policies on the onboard Raspberry Pi Zero 2 W through a separate repository.

Raspberry Pi Zero 2 WOpen Duck Mini Runtime
1
03 / Known hardware

Published facts, separated from hidden internals.

No inferred internal BOM
Has Nameapirrone/Open_Duck_Mini
Has DescriptionMaking a mini version of the BDX droid. https://discord.gg/UtJZsgfQGe
Uses Default Branchv2
Includes Preferred ReadmeYes
Github Detected LicenseApache-2.0
Reported Bom Costunder $400
PartQtyRoleEvidence
Onboard computerZero 2 WRaspberry Pi
—

Runs policies on the robot.

reported1
04 / AI & software

The documented software and intelligence layer.

Open Duck Mini trained ONNX policies

Version not published

Provide the two reported trained walking policies.

1

Mujoco Playground

Version not published

Provides the reinforcement-learning environment in a separate repository.

1

Open Duck reference motion generator

Version not published

Provides reference-motion generation for imitation learning.

1

Rhoban BAM

Version not published

Supports actuator identification.

1

Open Duck Mini Runtime

Version not published

Runs policies on the onboard Raspberry Pi Zero 2 W.

1
05 / Rights boundary

Useful enough to understand. Careful enough to respect the creator.

All media remains link-only until asset-level rights evidence is reviewed.

Shown on SauceSnap

Facts + original analysis

  • Structured facts linked to evidence
  • SauceSnap-created diagrams
  • Short original summaries
  • Explicit unknowns and review dates
Stays with the publisher

Restricted media + full content

  • Unlicensed product photography
  • Long-form publisher copy
  • Brand assets and illustrations
  • Undocumented internal design
06 / Sources & evidence

Inspect the captured facts before opening the publisher.

Official media and full publisher content remain external unless reuse rights are confirmed.

SAUCESNAP / SOURCE READER1 documents
1apirrone/Open_Duck_Miniapirrone · 28 captured factsPreview
Facts retained · media rights respected

Official media and full publisher content remain external unless reuse rights are confirmed.

  • $.full_nameapirrone/Open_Duck_Minireported
  • $.descriptionMaking a mini version of the BDX droid. https://discord.gg/UtJZsgfQGereported
  • $.default_branchv2reported
  • README.mdYesreported
  • $.license.spdx_idApache-2.0reported
  • Open Duck Mini v2under $400reported
  • Open Duck Mini v2working repository with undocumented scriptsreported
  • Updatestwo trained ONNX policiesreported
  • Updatessim2realreported
  • Updatesdocumentation is being written during developmentreported
  • UpdatesLED eyes, camera, speaker, and microphone expression featuresreported
  • Updateswalking with reinforcement learningreported
  • CADoutdated and not updated in a whilereported
  • RL stuffMujoco Playground in a separate repositoryreported
  • Reference motion generation for imitation learningseparate reference motion generator repositoryreported
  • Actuator identificationRhoban BAMreported
  • BOMexternal Google Sheets documentreported
  • Build Guideexternal Tnkr guidereported
  • Print Guiderepository print guidereported
  • Assembly Guideincomplete repository assembly guidereported
  • Embedded runtimeseparate runtime repository for Raspberry Pi Zero 2 Wreported
  • Training your own policiesrepository sim2real documentreported
  • BOMReview the external BOMreported
  • Build GuideReview the external build guidereported
  • Print GuideReview the print guidereported
  • Assembly GuideReview the incomplete assembly guidereported
  • Embedded runtimeConfigure the embedded runtimereported
  • Training your own policiesReview policy trainingreported
Retrieved 2026-07-26Open official source ↗