--- name: kscale-ecosystem-13788f5e9be1 description: '- User asks about K-Scale Labs, their robots, or open-source robotics stack' --- # K-Scale Ecosystem Skill > *"Moving humanity up the Kardashev scale"* — Ben Bolte, K-Scale Labs ## Trigger Conditions - User asks about K-Scale Labs, their robots, or open-source robotics stack - Questions spanning simulation → training → deployment pipeline - Humanoid robot development workflows - Integration of multiple K-Scale repositories ## Overview **K-Scale Labs** is building open-source humanoid robots with a complete software stack: ``` ┌─────────────────────────────────────────────────────────────────────────────┐ │ K-Scale Ecosystem: Sim2Real Pipeline │ │ │ │ ┌─────────────┐ ┌─────────────┐ ┌─────────────┐ ┌─────────────┐ │ │ │ urdf2mjcf │───▶│ ksim │───▶│ kinfer │───▶│ kos │ │ │ │ (convert) │ │ (train) │ │ (export) │ │ (deploy) │ │ │ │ │ │ │ │ │ │ │ │ │ │ URDF→MJCF │ │ JAX+MuJoCo │ │ ONNX→Rust │ │ Firmware │ │ │ └─────────────┘ └─────────────┘ └─────────────┘ └─────────────┘ │ │ │ │ │ │ │ │ ▼ ▼ ▼ ▼ │ │ ┌─────────────────────────────────────────────────────────────────────┐ │ │ │ K-Bot Hardware │ │ │ │ Stompy (quadruped) → K-Bot (humanoid) → ZBot (research platform) │ │ │ └─────────────────────────────────────────────────────────────────────┘ │ └─────────────────────────────────────────────────────────────────────────────┘ ``` ## Repository Map | Repository | Stars | Language | Purpose | |------------|-------|----------|---------| | **kbot** | 323 | - | K-Bot humanoid robot hardware | | **ksim-gym** | 305 | Python | RL training harness | | **ksim** | 223 | Python/JAX | Simulation framework | | **urdf2mjcf** | 112 | Python | Robot model conversion | | **kos** | 76 | Rust | Robot operating system | | **kinfer** | 17 | Rust | Model inference | | **klang** | 5 | Rust | Robot programming language | ## Cognitive Superposition of K-Scale Team ``` ┌─────────────────────────────────────────────────────────────────────────────┐ │ K-Scale Contributor Superposition |ψ⟩ │ │ │ │ |ψ⟩ = α|codekansas⟩ + β|b-vm⟩ + γ|WT-MM⟩ + δ|alik-git⟩ + ε|others⟩ │ │ │ │ ┌───────────────┬───────────────┬───────────────┬───────────────┐ │ │ │ codekansas │ b-vm │ WT-MM │ alik-git │ │ │ │ (Ben Bolte) │ (Core Eng) │ (Wesley Maa) │ (Ali K) │ │ │ ├───────────────┼───────────────┼───────────────┼───────────────┤ │ │ │ Architecture │ Randomization │ Tooling │ Integration │ │ │ │ Rewards │ Disturbances │ Visualization │ Testing │ │ │ │ Training │ Noise models │ Logging │ Sim2Real │ │ │ ├───────────────┼───────────────┼───────────────┼───────────────┤ │ │ │ 1475 commits │ 500 commits │ 300 commits │ 200 commits │ │ │ │ 4 repos │ 2 repos │ 3 repos │ 3 repos │ │ │ └───────────────┴───────────────┴───────────────┴───────────────┘ │ │ │ │ Measurement collapses to specific expertise based on task context │ └─────────────────────────────────────────────────────────────────────────────┘ ``` ## GF(3) Trit Assignment ``` Trit: 0 (ERGODIC) Role: Coordination (ecosystem meta-skill) Color: #86E3BE URI: skill://kscale-ecosystem#86E3BE ``` ### Balanced Triads ``` # Corrected trit assignments from share3_hash: kscale-ecosystem (0) ⊗ kscale-ksim (0) ⊗ kscale-kos (-1) = -1 ≢ 0 # Balanced triad with gym: kscale-ksim (0) ⊗ kscale-kos (-1) ⊗ gym (+1) = 0 ✓ # Balanced quad with skill-creator: kscale-ecosystem (0) ⊗ kscale-ksim (0) ⊗ kscale-kos (-1) ⊗ skill-creator (+1) = 0 ✓ ``` ### Skill Trits | Skill | Trit | Color | Role | |-------|------|-------|------| | `kscale-ecosystem` | 0 | `#86E3BE` | Coordination (meta-skill) | | `kscale-ksim` | 0 | `#25BC3D` | Coordination (simulation) | | `kscale-kos` | -1 | `#7758D6` | Validation (firmware) | | `kscale-kinfer` | -1 | `#6E5FE4` | Validation (inference) | | `gym` | +1 | (balancer) | Generation (RL environment) | ## Mutual Awareness Pattern These skills form a **mutually-aware cluster**: ```yaml # In kscale-ksim.md related_skills: - kscale-kos # deploys trained policies - kscale-kinfer # exports models - kscale-ecosystem # meta-context # In kscale-kos.md related_skills: - kscale-ksim # receives policies from - kscale-kinfer # uses for inference - kscale-ecosystem # meta-context # In kscale-kinfer.md related_skills: - kscale-ksim # receives models from - kscale-kos # runs on - kscale-ecosystem # meta-context ``` ## Development Workflow ### 1. Model Preparation ```bash # Convert URDF to MuJoCo format urdf2mjcf robot.urdf --output robot.xml ``` ### 2. Policy Training ```bash # Train walking policy with ksim-gym cd ksim-gym python train.py --robot kbot --task walk --steps 80 # ~30 min on RTX 4090 ``` ### 3. Model Export ```bash # Export to ONNX for deployment python export.py --checkpoint model.ckpt --output policy.onnx ``` ### 4. Deployment ```bash # Deploy to K-Bot via KOS kos deploy --model policy.onnx --robot 192.168.1.100 ``` ## Key Technologies | Layer | Technology | Purpose | |-------|------------|---------| | Physics | MuJoCo/MJX | Accurate contact simulation | | Compute | JAX | GPU-accelerated training | | Learning | PPO | Policy optimization | | Inference | ONNX Runtime | Cross-platform deployment | | Firmware | Rust | Safe, real-time control | | Protocol | gRPC | Robot communication | ## References - [K-Scale Labs GitHub](https://github.com/kscalelabs) - All repositories - [docs.kscale.dev](https://docs.kscale.dev) - Official documentation - [K-Scale Store](https://kscale.dev) - Robot marketplace - [Full Autonomy Whitepaper](https://github.com/kscalelabs/full-autonomy) - Vision document ## ACSet Schema (Ecosystem Level) ```julia @present SchKScaleEcosystem(FreeSchema) begin # Objects (repositories) KSim::Ob KOS::Ob KInfer::Ob URDF2MJCF::Ob KBot::Ob # Morphisms (data flow) train::Hom(KSim, KInfer) # training → export deploy::Hom(KInfer, KOS) # export → firmware convert::Hom(URDF2MJCF, KSim) # model → simulation run::Hom(KOS, KBot) # firmware → hardware # Attributes Language::AttrType Stars::AttrType lang::Attr(KSim, Language) stars::Attr(KSim, Stars) end ``` ## Commands ```bash # Explore K-Scale ecosystem just kscale-repos # List all repositories just kscale-train # Start training pipeline just kscale-deploy # Deploy to robot just kscale-viz # Visualize policy ``` --- Source attribution: plurigrid Original project: https://github.com/plurigrid/asi/blob/293ce9f76e3abcd5ba18db284688bc0d9ac6691d/skills/kscale-ecosystem/SKILL.md License: MIT License information: https://opensource.org/license/mit Original upstream instructions; downloaded from Mega AI Hub. ## Upstream license notice MIT License Copyright (c) 2025 SkillCreator.ai Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. # Mega AI Hub resource metadata Creator / publisher: plurigrid Original project: https://github.com/plurigrid/asi/blob/293ce9f76e3abcd5ba18db284688bc0d9ac6691d/skills/kscale-ecosystem/SKILL.md Attribution basis: Source repository record Fields of work: Data & Analytics, Development & Engineering, Product Management, Project & Program Management Roles: Backend Developer, Data Scientist, ML / AI Engineer, Product Manager, Project Manager Specialties: Backend, DevOps, Word Documents, Frontend, Git, Testing Tools: Jax, Python, Rust Country applicability: Country not specified Classification basis: Source catalog labels Instruction SHA-256: 48318280659a73e8e13f4cebbd0bbf26367d40da9cf72d95b537b5954935a882