Super hackable, affordable, and end-to-end (sim2real, RL) 3D-printed open-source humanoid robot platform. Fully open-source, including hardware, SDK, and sim environments. BoM starts at $350.
This project is built by the open-source community and is currently work in progress. We welcome your feedback, issues, and pull requests in GitHub or joining our Discord.
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Public Beta. Zeroth-01 Bot is available for basic locomotion, vision, and speech, but expect breaking changes. We plan to release stable V1.0 in June 2025.
kos-zbot provides the robot operating system and hardware abstraction layer:
- Hardware drivers: Servo control (Feetech), IMU interfaces, actuator management
- Python API: High-level control via
kos_zbot
package for easy developer experience in Python. - Real-time control: Low-latency servo communication and sensor data processing
- CLI tools: Robot calibration, diagnostics, and system configuration
ksim-gym-zbot provides reinforcement learning training:
- Training pipeline: GPU-accelerated RL for whole-body control, from walking to human imitation
- Sim-to-real: SysID-calibrated actuators with pre-loaded MJCF and URDF models
- Model deployment: Trained policies export directly to real robots via KOS
- Please see the Getting Started documentation at https://docs.kscale.dev/docs/zeroth-01.
Zeroth Bot is developed by the open-source community. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Documentation at https://docs.kscale.dev/docs/zeroth-01
This project is licensed under the MIT License.