K-Scale Labs
@kscalelabs
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Moving humanity up the Kardashev scale
Palo Alto
Joined September 2023
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K-Scale Labs just launched on
@ycombinator
's Launch YC!
K-Scale Labs 🤖 Open-source humanoid robots for everyone. Check them out:
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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:
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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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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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We will be hosting a robotics hackathon at our house near Stanford over Labor Day weekend. We are in a large house so capacity is fairly flexible, plus we have a decent set of equipment and supplies. Link:
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Awesome new open-source, sub-$1000 robot
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K-Scale Labs weekly update 09/03/2024
Community Hackathon Spotlight
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We started a Discord:
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Matt now has account access so watch out 👀
K-Scale Labs weekly update 08-19-2024
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Watch us eat dinner and talk about VLMs:
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New robot version is is 3D printed
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New robot version is fully assembled
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The update for this week will be delayed until Wednesday when Ben is back from China
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OpenVLA finetuned on Stompy arms (this is autonomous, 1x speed btw)
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@lethic1
answered some of our questions about his insane low-cost robot build (full thread over here)
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We will be releasing a build video. Full robot assembly time is 4-5 hours (nice weekend project)
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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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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.
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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Achieved 3.5 Mbps over 4 CAN busses when passing messages from USB to XMC4800
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@Anthrobo
started work on open sourced cycloidal actuators:
Open-source cycloidal actuators are in development by
@Fennex628
. They will be available in a number of reduction ratios, and sizes ranging from 60mm to 200mm in diameter.
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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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CAD model switching over to modular design (can easily detach the arm from the outside)
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New higher-torque motors from MyActuator means we can use longer arms
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Released a technical report evaluating ACT policies with 100 examples
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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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We have extended teleoperation to start collecting a dataset for transferring OpenVLA-style policies to the humanoid upper body (note the weird color is because we're storing in BGR instead of RGB...)
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@lethic1
started RX2 development
RX2 Humanoid coming!
- Torque controlled joints + sheet metal chassis
- 3x payload compared to RX1 (3kg vs 1kg)
- 70% less components than RX1
- ~$1,200 BOM per arm
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We also released a minimal PPO implementation using MJX, with the goal being hackable / easy to get started
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Started on an open-source motor controller (riff of a previous version of ODrive)
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Replicating Pinocchio: the goal here is to be able to leverage large-scale video data to learn useful robot policies
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Conversational voice assistant running end-to-end entirely on Jetson Nano (this is entirely local, not calling APIs)
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New hands and open-source instructions from
@lethic1
RX1 Humanoid robot
- Full human scale arms for pick & place
- Opensource and build <$1,000
- Servo, arm and hand build instructions are already posted on
Go check it out!
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This week we published a few standalone implementations of various algorithms. First, consistency models from
@nathanzhaoo
I got the opportunity to work on a fun side project while interning
@kscalelabs
- happy to share it publicly, check it out! It is a minimal, hackable implementation of consistency models from
@DrYangSong
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K-Scale Manipulation Suite:
@huggingface
LeRobot-style environment for single-arm, dual-arm and upper-body manipulation tasks:
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A big-ish model is training (fixed a grad sync issue + FSDP)
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K-Scale Labs weekly update 2024.07.19
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Above is possible because of mesh-simplified version of Stompy
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We're moving from breadboards to PCBs
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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Big-ish model finished training, eval results look promising
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Extreme mesh simplification pipeline (good for simulation). Merging fixed joints
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We recovered a previously "bricked" Orin AGX ($2000 computer) by fixing an incorrect byte in EEPROM
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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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Created Mujoco Stompy model and environment
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Hardware rig is set up for CI/CD pipeline to build and flash Jetsons with OS
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We recorded a small dataset of "humans standing up" and put it in the Discord
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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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Iteration 2 of the motor controller is now circular to match the MIT Cheetah-style BLDC
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Running Stompy in WASM: Details in the wiki:
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FINALLY fixed long-running issue with model inertias in Mujoco (this was so painful)
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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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