RollerSlope — gliding down slopes
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Mjlab-RollerSlope-Flat-MicroDuckDescending a slope on the wheels while staying controllable.
Why it is trained separately
Gravity does continuous work on a slope, so the robot accelerates without pushing. A flat-ground skating policy on a slope simply goes faster and faster until it loses control — it never had to learn to slow down, because on the flat it did not need to.
What this task learns is braking and speed maintenance, not propulsion.
About the task id
The id says Flat while the terrain configuration is a slope. That is how it appears in the registry, not a typo — trust the output of uv run list-envs.