Zeroth-01 Bot

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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Project Status

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.

Core Components

KOS-ZBot - Operating System

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

K-Sim Gym ZBot - RL Training

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

Build Guide

• Please see the Getting Started documentation at https://docs.kscale.dev/docs/zeroth-01.

To start developing Zeroth Bot

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

License

This project is licensed under the MIT License.