K-Scale Labs @kscalelabs Twitter profile

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K-Scale Labs

@kscalelabs

14 days

K-Scale Labs weekly update 2024.06.21

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K-Scale Labs

@kscalelabs

3 months

K-Scale Labs just launched on @ycombinator 's Launch YC! K-Scale Labs 🤖 Open-source humanoid robots for everyone. Check them out:

Launch YC: K-Scale Labs 🤖 Open-source humanoid robots for everyone | Y Combinator

Meet Stompy, the world's first open-source general-purpose humanoid robot

www.ycombinator.com

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K-Scale Labs

@kscalelabs

3 months

We will not be making, using, building or selling this design, as it clearly violates an extremely enforceable patent. What our employees do on their own personal time is their business. However, if you would like to make it yourself, instructions are in the Discord:

Matt Freed

@_mattfreed

3 months

Open source CAD model here:

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K-Scale Labs

@kscalelabs

2 months

We created a humanoid robot specific wiki! It is currently very bare-bones, but we will be fleshing it out over the coming months. Anyone is welcome to contribute! URL:

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K-Scale Labs

@kscalelabs

3 months

Video of Stompy from @Stone_Tao in the Discord. Avoids the weird "feet sinking into the floor" issues we've seen with Isaac.

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K-Scale Labs

@kscalelabs

1 month

K-Scale Labs weekly update 2024.05.31

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K-Scale Labs

@kscalelabs

2 months

K-Scale Labs weekly update 2024.05.17

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K-Scale Labs

@kscalelabs

2 months

K-Scale Labs weekly update 2024.05.10

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K-Scale Labs

@kscalelabs

28 days

K-Scale Labs weekly update 2024.06.07

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K-Scale Labs

@kscalelabs

3 months

We started a Discord:

Join the K-Scale Labs Discord Server!

K-Scale Labs Open Source Humanoid Initiative | 1262 members

discord.com

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K-Scale Labs

@kscalelabs

1 month

K-Scale Labs weekly update 2024.05.24

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K-Scale Labs

@kscalelabs

1 month

Watch us eat dinner and talk about VLMs:

kscalelabs - Twitch

kscalelabs streams live on Twitch! Check out their videos, sign up to chat, and join their community.

www.twitch.tv

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K-Scale Labs

@kscalelabs

21 days

K-Scale Labs weekly update 2024.06.14

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K-Scale Labs

@kscalelabs

2 months

3D printers are unboxed and set up (stallions)

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K-Scale Labs

@kscalelabs

4 months

View from bed this morning

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K-Scale Labs

@kscalelabs

14 days

New robot version is fully assembled

Matt Freed

@_mattfreed

16 days

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K-Scale Labs

@kscalelabs

14 days

All electronics for v2 motor controller power on, ODrive firmware flashes with now issues. Need to revamp firmware with pin assignment. Regulator placement fixed in v3

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K-Scale Labs

@kscalelabs

21 days

Finished top-to-bottom redesign, focusing on modularity (bring-your-own-gripper), ease of assembly (targeting "afternoon project"), no more tedious support removal, internal swappable battery, etc.

Matt Freed

@_mattfreed

22 days

K-Scale Stompy skeleton overhaul completed. A complete top-to-bottom redesign using all of our past learnings. Let the assembly begin.

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K-Scale Labs

@kscalelabs

2 months

CAN controller PCB is almost ready for JLCPCB

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K-Scale Labs

@kscalelabs

14 days

We will be releasing a build video. Full robot assembly time is 4-5 hours (nice weekend project)

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K-Scale Labs

@kscalelabs

14 days

@lethic1 dual-arm sub-$1000 robot build progress

Lethic

@lethic1

15 days

dual-arm!

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K-Scale Labs

@kscalelabs

2 months

@lethic1 answered some of our questions about his insane low-cost robot build (full thread over here)

Lethic

@lethic1

2 months

$250 robotic arm 7+6 dof

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K-Scale Labs

@kscalelabs

28 days

Stompy model in loco-mujoco:

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K-Scale Labs

@kscalelabs

14 days

Motor controller v4 (ethernet support)

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K-Scale Labs

@kscalelabs

21 days

Released a technical report evaluating ACT policies with 100 examples

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K-Scale Labs

@kscalelabs

2 months

CAD model switching over to modular design (can easily detach the arm from the outside)

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K-Scale Labs

@kscalelabs

14 days

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

1 month

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our weekly office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

1 month

New higher-torque motors from MyActuator means we can use longer arms

Matt Freed

@_mattfreed

1 month

New actuators means new robot. Power of Monke incoming

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K-Scale Labs

@kscalelabs

1 month

VLM + ASR + TTS demo running on a Jetson Orin, from @hupobuboo

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K-Scale Labs

@kscalelabs

1 month

Started on an open-source motor controller (riff of a previous version of ODrive)

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K-Scale Labs

@kscalelabs

2 months

We're moving from breadboards to PCBs

Matt Freed

@_mattfreed

2 months

Theyre letting the MechE touch the shocky bits 😶‍🌫️ I present to you: The CANdaddy An all-in-one handheld CAN actuator programming board. I hope youre hungry because my traces are spaghetti 🍝

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K-Scale Labs

@kscalelabs

2 months

Stompy teleoperation demo with a VR headset

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K-Scale Labs

@kscalelabs

1 month

Above is possible because of mesh-simplified version of Stompy

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K-Scale Labs

@kscalelabs

2 months

K-Scale Manipulation Suite: @huggingface LeRobot-style environment for single-arm, dual-arm and upper-body manipulation tasks:

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K-Scale Labs

@kscalelabs

14 days

CAN bus wiring with Ethernet cables

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K-Scale Labs

@kscalelabs

28 days

A big-ish model is training (fixed a grad sync issue + FSDP)

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K-Scale Labs

@kscalelabs

2 months

Conversational voice assistant running end-to-end entirely on Jetson Nano (this is entirely local, not calling APIs)

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K-Scale Labs

@kscalelabs

21 days

Big-ish model finished training, eval results look promising

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K-Scale Labs

@kscalelabs

1 month

Replicating Pinocchio: the goal here is to be able to leverage large-scale video data to learn useful robot policies

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K-Scale Labs

@kscalelabs

14 days

Extreme mesh simplification pipeline (good for simulation). Merging fixed joints

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K-Scale Labs

@kscalelabs

2 months

More Jetsons in our CI/CD rack

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K-Scale Labs

@kscalelabs

14 days

Stompy made a cameo in @Stone_Tao 's CVPR slides on Maniskill 3

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K-Scale Labs

@kscalelabs

21 days

V3 motor driver ("Kawaii Stompy" edition) has been sent out to JLCPSB. Fixes flashing issues with V1 driver, better caps / ICs

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K-Scale Labs

@kscalelabs

1 month

Swapping over to a center-mount battery

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K-Scale Labs

@kscalelabs

28 days

Iteration 2 of the motor controller is now circular to match the MIT Cheetah-style BLDC

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K-Scale Labs

@kscalelabs

2 months

Hardware rig is set up for CI/CD pipeline to build and flash Jetsons with OS

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K-Scale Labs

@kscalelabs

1 month

Running Stompy in WASM: Details in the wiki:

GitHub - kscalelabs/ksim_wasm: View mujoco in the brower with stompy model

View mujoco in the brower with stompy model. Contribute to kscalelabs/ksim_wasm development by creating an account on GitHub.

github.com

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K-Scale Labs

@kscalelabs

28 days

We recorded a small dataset of "humans standing up" and put it in the Discord

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K-Scale Labs

@kscalelabs

14 days

View URDFs on Robolist

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K-Scale Labs

@kscalelabs

2 months

We recovered a previously "bricked" Orin AGX ($2000 computer) by fixing an incorrect byte in EEPROM

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K-Scale Labs

@kscalelabs

2 months

Created Mujoco Stompy model and environment

GitHub - kscalelabs/onshape: K-Scale's library for programmatically interacting with OnShape

K-Scale's library for programmatically interacting with OnShape - kscalelabs/onshape

github.com

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K-Scale Labs

@kscalelabs

28 days

New arm design feels close to ready for prime time (no more filament removal, coupler design to be more modular)

Matt Freed

@_mattfreed

30 days

Iterate on hardware at the speed you do software. Completely overhauled the arms again, this time with a coupler design for hot swapping pieces. Now you can attach different types of arm designs with ease. See example of 7 DoF & 5 DoF Now its time for the hip redesign

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K-Scale Labs

@kscalelabs

28 days

Jetson carrier board design

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K-Scale Labs

@kscalelabs

2 months

Sim-to-sim pipeline works (Isaac -> Mujoco), identified simulation artifact issues where inertia boxes are visibly incorrect and intra-body force tensors are extreme

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K-Scale Labs

@kscalelabs

1 month

FINALLY fixed long-running issue with model inertias in Mujoco (this was so painful)

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K-Scale Labs

@kscalelabs

14 days

Fine-tune job converging

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K-Scale Labs

@kscalelabs

1 month

Debugging sim2sim for mjcf -> Isaac

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K-Scale Labs

@kscalelabs

21 days

Made a prototype head for mounting cameras / speakers / audio to check for proper isolation - will set up as a Twitch stream

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K-Scale Labs

@kscalelabs

2 months

Stand-alone eye mount rig (for data collection)

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K-Scale Labs

@kscalelabs

1 month

Uploaded our first dataset to @huggingface (link available here: )

kscalelabs/sim_synth · Datasets at Hugging Face

huggingface.co

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K-Scale Labs

@kscalelabs

21 days

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

2 months

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our weekly office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

2 months

Arm redesign to add an additional DoF + making end effector shorter

Matt Freed

@_mattfreed

2 months

Been working on converting our 3d printed 6dof robot arm to a 7dof Aloha style arm. Still need to add more rigidity in places, but it will be pretty cool to have an arm that both works on a humanoid & as a standalone unit.

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K-Scale Labs

@kscalelabs

28 days

Automatic model evaluation suite running on CI, sending progress reports for new model pushes

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K-Scale Labs

@kscalelabs

1 month

design is greatly improved. Still static (backend is not connected to frontend) but most of the pieces are in place to launch next week. Added dark mode, sign in with Google, a bunch of CSS fixes, etc. Assembly guide + BOM for Stompy will live here

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K-Scale Labs

@kscalelabs

21 days

Evaluated various control modes to compare relative performance - see our Maniskill fork

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K-Scale Labs

@kscalelabs

2 months

Added notebook for training Stompy through Google Colab

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K-Scale Labs

@kscalelabs

2 months

@i_bioloid It is a public wiki, feel free to add them 😀

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K-Scale Labs

@kscalelabs

1 month

is live (stub page right now). Running CI/CD from the repo here: An intern hacked together a feature-complete local version in 2 days using Rust templating on the 'rust' branch

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K-Scale Labs

@kscalelabs

1 month

The CAN Motor Flasher v1 PCB order has been placed with JLCPCB - starting work on V2 (not so many CAN ports, making it two-sided to have a smaller form factor, general clean-up)

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K-Scale Labs

@kscalelabs

28 days

@virajtipnis also greatly expanded the robot URDF list: It's probably the biggest collection of open-source models available in one place

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K-Scale Labs

@kscalelabs

2 months

The above setup now boots Buildroot CI/CD barebones OS. Next steps is packaging our OS with the speech system

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K-Scale Labs

@kscalelabs

1 month

Open vocabulary object detection, also running on a Jetson Orin, also from @hupobuboo

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K-Scale Labs

@kscalelabs

28 days

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

21 days

Debugged the STM32 CAN controller (apologies for potato-quality photo)

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K-Scale Labs

@kscalelabs

1 month

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

28 days

Video of messing around with the gripper

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K-Scale Labs

@kscalelabs

2 months

Follow us @kscalelabs for more weekly updates as we build an open-source humanoid robot, and join our weekly office hours on Discord (Friday mornings at 8AM PST) if you want to get involved!

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K-Scale Labs

@kscalelabs

14 days

Exploring VLA pretraining

Paweł Budzianowski

@pfbudzianowski

16 days

Being a lazy boy, I was waiting quite some time for the beautifully simple approach to the pretraining of VLA. Time to traing and test the openvla with our open source Stompy! thank you @siddkaramcheti and co.

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K-Scale Labs

@kscalelabs

1 month

@Ilir_AI @_mattfreed Long hours, extreme deadlines, no social life, uphill battle against much better-funded competitors, chance to change the world in event of success

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K-Scale Labs

@kscalelabs

28 days

Much lower-profile hand design

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K-Scale Labs

@kscalelabs

1 month

Stompy walking policy in MJX to maximize height reward (pr: ) Cool for many reasons, but one is it shows that scaling up RL training on our cluster helps policies train better (8 GPUs so far, 64 GPUs in the near future)

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K-Scale Labs

@kscalelabs

2 months

@Saquibclimatex

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K-Scale Labs

@kscalelabs

1 month

New MJX sim training pipeline works on 8xA100s - PR: New repo: Trains a running policy in 15 minutes

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K-Scale Labs

@kscalelabs

3 months

@jackmokeefe1 What does it say for you?

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K-Scale Labs

@kscalelabs

1 month

CAN Motor Flasher v2 PCB looks good, almost ready for JLCPCB net a few parts

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K-Scale Labs

@kscalelabs

21 days

Merged mesh simplification into Onshape library - aggressive triangle decimation provides 10x speed-up in sim performance

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K-Scale Labs

@kscalelabs

1 month

@lethic1 showed us a demo of IK running on his robot (insanely cool)

Lethic

@lethic1

1 month

IK testing

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K-Scale Labs

@kscalelabs

2 months

@jwt0625 We are going to add to the wiki over time! There is a lot more stuff in there besides what is on the homepage

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K-Scale Labs

@kscalelabs

2 months

Rather than using MCP2515 CAN controllers over SPI, we're also exploring driving the transceivers through software (just treat normal GPIO pins as CAN TX/RX)