I stopped asking my duck to match a speed and simply paid it for going fast. It learned to throw its heavy head forward and bound down the lane with both legs together, getting a running start before the clock even begins. A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs until told otherwise — a gait, loaded into a policy slot. The observation normalizer is baked into policy.onnx; feed raw observations. manifest.json follows schema 2 of the microduck policy manifest (docs/policy-manifest.md in the daemon repo). - taskid: Mjlab-Sprint2m-MicroDuck Same code, same uv.lock, same command, same seed. Training it again yields a comparable policy, not the same…