Kawasaki unveiled its first fully untethered bipedal walking demo with an onboard battery. At that time, Kaleido stood 178 cm tall and weighed 85 kg. While maintaining this weight, the team replaced the four external controllers with compact, high‑performance amplifiers and motor drivers, and integrated all electrical components into the robot’s body. By adopting an onboard battery as the power source, Kaleido achieved complete stand‑alone operation.
Article InformationAuthor, 戈登·科雷拉（Gordon Corera）。关于这个话题，PDF资料提供了深入分析
从公开的演示视频可见，被改造的机型为 PS5 Slim，运行完整版 Linux 系统，功能无任何缩水。改造后的主机支持 4K HDMI 视频输出与音频输出，全部 USB 接口均可正常使用。，详情可参考新收录的资料
Tied Q/K + V/O projections, RoPE period-19, parabolic tied-embed decode, two-hinge ReLU MLP，详情可参考新收录的资料
用 Spring 的 RequestContextHolder（SpringBoot 3.2 已适配虚拟线程，自动绑定到请求上下文，而非线程）。