연결

K-Scale Robotics Ecosystem

plurigridbyplurigrid
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8
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데이터 과학 및 ML

Provides a comprehensive open-source framework for building, training, and deploying humanoid robots using reinforcement learning and sim-to-real transfer.

The K-Scale skill is a unified robotics development stack designed to streamline the creation of humanoid robots through a specialized collection of sub-skills. It integrates Reinforcement Learning (RL) training via ksim-rl, scene composition in MuJoCo, and hardware deployment through the KOS (K-Scale Operating System) firmware. By following a GF(3) triadic organization, the skill ensures architectural balance between generation, coordination, and analysis, making it an essential tool for developers working on humanoid locomotion, vision-language-action (VLA) models, and low-level actuator control via CAN and gRPC.

주요 기능

01Automated sim-to-real transfer using entropy-driven domain randomization.
02Unified index for humanoid robot development, training, and deployment.
03Native gRPC integration for low-latency robot firmware and actuator control.
048 GitHub stars
05High-fidelity scene composition and physics simulation using MuJoCo.
06Reinforcement Learning (RL) pipelines for locomotion and manipulation tasks.

사용 사례

01Training humanoid locomotion policies in high-fidelity simulation environments.
02Converting URDF robot models to MJCF format for advanced physics simulation.
03Deploying pre-trained AI models to physical robot hardware via KOS firmware.