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You hear them? So they are peeping. This means they are making noise. Pipping means they have began cracking the shell. You'll see a little whole and a small spot cracked. If they are peeping then they will probably pip by tommorow. If you can't get your humidity up fast enough and they are pipping put a wet sponge (works best), or cloth in there. That usually brings it up faster. I've heard ducks will hatch in humidity around 80, but defer to the 70 that you heard from another poster. I think they will be fine. I do know when it comes to ducks higher than normal is better than not high enough. They need good humidity to zip.
Hope some of this helped!