ksim-rl
RL training library for humanoid locomotion and manipulation built on MuJoCo and JAX. Provides PPO, AMP, and custom task abstractions for sim-to-real robotics policy training.
npx skills add majiayu000/claude-skill-registry --skill ksim-rl --agent claude-code
Same command for any agent — swap --agent for codex, cursor, copilot.
Weekly change comes from our own snapshots, not the repository page — it measures attention, not adoption.
# KSIM-RL Skill **Trit**: -1 (MINUS - analysis/verification) **Color**: #3A2F9E (Deep Purple) **URI**: skill://ksim-rl#3A2F9E ## Overview KSIM is K-Scale Labs' reinforcement learning library for humanoid robot locomotion and manipulation. Built on MuJoCo for physics simulation and JAX for hardware-accelerated training. ## Core Architecture ``` ┌─────────────────────────────────────────────────────────────────┐ │ KSIM ARCHITECTURE │ ├─────────────────────────────────────────────────────────────────┤ │ ┌─────────────┐ ┌─────────────┐ ┌─────────────────────────┐ │ │ │ RLTask │ │ PPOTask │ │ AMPTask │ │ │ │ (abstract) │──│ (PPO impl) │──│ (Adversarial Motion) │ │ │ └─────────────┘ └─────────────┘ └─────────────────────────┘ │ │ │ │ │ ▼ │ │ ┌─────────────────────────────────────────────────────────────┐ │ │ │ PhysicsEngine │ │ │ │ ┌───────────────┐ ┌───────────────────────────────┐ │ │ │ │ │ MujocoEngine │ │ MjxEngine (JAX-accelerated) │ │ │ │ │ └───────────────┘ └───────────────────────────────┘ │ │ │ └─────────────────────────────────────────────────────────────┘ │ │ │ │ │ ▼ │ │ ┌─────────────────────────────────────────────────────────────┐ │ │ │ Environment Components │ │ │ │ • Actu
- Overview
- Core Architecture
- Key Features
- API Usage
- GF(3) Triads
- Key Contributors
- Related Skills
- References
What does the ksim-rl skill do?
RL training library for humanoid locomotion and manipulation built on MuJoCo and JAX. Provides PPO, AMP, and custom task abstractions for sim-to-real robotics policy training.
How do I install it?
Run `npx skills add majiayu000/claude-skill-registry --skill ksim-rl --agent claude-code` — it drops the skill into your project so the agent can pick it up. Swap the --agent value for codex, cursor or copilot if you use one of those.
Where does this skill come from?
From majiayu000/claude-skill-registry, a repository with 534 stars. We read it straight from the repository tree rather than a submitted listing, so what you see here is what is actually published.
Is a popular skill a good skill?
Not necessarily. Stars measure attention, not adoption — a repository can trend for a week and be abandoned. That is why we show the weekly change from our own snapshots next to the total, instead of a single flattering number.