MicroDojo browser-physics proof of concept — third-party notices
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This independent non-commercial proof of concept is not endorsed by Pollen
Robotics, Google DeepMind, or Microsoft.

Pollen Robotics Microduck model, collision assets, and walking policy
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Creator / attribution: Pollen Robotics and contributors
Physics/model project: https://github.com/pollen-robotics/microduck_rl
Pinned physics/model commit: d424a0c899f6b33cbd3daeb279913134349c0b63
Physics source: src/mjlab_microduck/robot/microduck/robot_allcollisions.xml
Published policy Space: https://huggingface.co/spaces/pollen-robotics/microduck-simulator
Pinned Space commit: 1261013e7e28ba2a6878bd76ae573751c0e4b457
Walking policy: app/public/policies/BEST_alpha_walking.onnx
Policy SHA-256: e36332d383997d51401897734cd3e79cf5038406feddb18b4d57ecfb141daa6c

The microduck_rl repository carries Apache License 2.0 for its software.
Pollen Robotics separately describes the upstream 3D model files with the
wording "CC BY-SA-NC" without identifying a canonical Creative Commons
version or URI. The pinned Hugging Face Space snapshot provides no separate
license metadata for the ONNX policy. The tracked visual derivative, collision
assets, and policy are included only in this attributed, non-commercial proof
of concept while exact terms are clarified. Do not assume the software license
overrides the model notice or covers policy weights. Commercial use is not
cleared; obtain written permission and licensing clarification from Pollen
Robotics.

The deployed duel MJCF is reproducibly generated from robot_allcollisions.xml.
It preserves the upstream collision geoms, masks and contact parameters,
namespaces two robots into one shared world, and adds a circular platform and
floor. The browser records real
MuJoCo root poses and 14 joint angles per robot. No procedural gait, fake root
force, or kinematic root translation drives a match.

Browser runtimes
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MuJoCo @mujoco/mujoco 3.11.0, Google DeepMind, Apache License 2.0:
https://github.com/google-deepmind/mujoco

ONNX Runtime Web 1.27.0, Microsoft, MIT License:
https://github.com/microsoft/onnxruntime

Three.js, MIT License:
https://github.com/mrdoob/three.js

Runtime WASM, policy, MJCF, and collision assets are self-hosted. Exact hashes
are recorded in simulation-assets.provenance.json. The production match path
performs no third-party runtime fetches.