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

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

kscale-ecosystem

#86E3BE

kscale-ksim

#25BC3D

kscale-kos

#7758D6

kscale-kinfer

#6E5FE4

gym

Mutual Awareness Pattern

These skills form a mutually-aware cluster:

# 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

# Convert URDF to MuJoCo format
urdf2mjcf robot.urdf --output robot.xml

2. Policy Training

# 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

# Export to ONNX for deployment
python export.py --checkpoint model.ckpt --output policy.onnx

4. Deployment

# Deploy to K-Bot via KOS
kos deploy --model policy.onnx --robot 192.168.1.100

Key Technologies

References

• K-Scale Labs GitHub - All repositories
• docs.kscale.dev - Official documentation
• K-Scale Store - Robot marketplace
• Full Autonomy Whitepaper - Vision document

ACSet Schema (Ecosystem Level)

@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

# 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