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Tested Microduck CAD and PPO research pipeline.
- 10 tests pass; 12 independent policies completed 18.432 million transitions.
- Fixed held-out evaluation and an eight-page artifact-linked report.
- Normalized ONNX policy with verified numerical parity.
- Forward motion was learned; heading control fails the full walking acceptance criteria.
The evidence archive includes final resumable checkpoints, metrics, episode records, evaluation trajectories, and report artifacts. Verify it using SHA256SUMS. CAD sources and the FreeCAD screenshot are available on the main branch. Robot parameters remain provisional; this release does not establish reliable walking or hardware readiness.