Well you don't generally help before they pip. I'm not saying you can't, just that people generally don't. There is a much higher risk of pipping for them before they are ready to pip, which can lead to all sorts of problems and often times death.
Usually when you decide to help you have to look at several things.
How long has it been since pip? Usually you want to wait 24-48 hours, if there's been no progress. If they've pipped but they have made some progress, let them keep going even if it's been a while. From what I understand, ducks tend to take longer to hatch than chickens, and I mean the actual time between pip and zip. Someone once told me that their ducks routinely take 48+ hours to hatch after pip.
Have their noises changed? Usually a pipped baby will squeak and squeal and generally make a lot of noise for something so small. If this noise weakens or ceases (and I don't mean pauses, they will take time to rest quietly), it is time to help. If you can sit near the incubator for a bit and there's no response when you peep at them first, it may be time to help depending on how noisy yours were to begin with.
Has their movement/progress stopped? In some cases the baby will be able to pip the shell but they may either be too large or too bloated (if your humidity was too high, not really an issue in ducks since they want fairly high humidity, but still something to pay attention to) to turn themselves to zip the egg. Do not mistake long pauses in progress for stopped progress. In my limited experience, if they've shoved off a bunch of shell around the pip site in a circle (as opposed to more of a line or a directional cracking) they are not able to move like they should be.
What does the inner membrane look like? There are 2 membranes the chick must pip and struggle out of. The first is just underneath the egg shell and will be white or off white in most cases. This can dry out and become tough to get through, but it's usually the second, inner membrane that causes a problem. If your humidity is too low, it can begin to shrink wrap the baby, keeping it in place and preventing it from turning to zip. If your humidity is too high, this can actually turn somewhat gelatinous (will look gummy and brown/yellow) after they've started closing down blood vessels, and it can drown the chick if it gets into the nostrils. The inner membrane should be clear/blue-ish with blood vessels or just plain clear and somewhat stretchy if you can see it.