Platform
CRF300L 2025
XR250 lineage — Toei's donor
AI support mecha on the Honda CRF300L — direct descendant of the XR250 the original prop rode on. Same pump gasoline, same tank. It rides like a dirt bike, balances itself at stops, follows you on foot, and fetches itself when called. No Battle Mode. The mission is the bike that comes back to you.
Actuators idle. The CRF300L rides 100% stock — by-wire hardware only shadows your inputs and never overrides them.
FULL HUMAN CONTROLUWB tag in your pocket. It trails you on foot or on trail, self-balancing with Honda Riding Assist-style steer correction. No gyros.
2–25 KM/HRTK-GNSS waypoints + LiDAR obstacle avoidance. Whistle from the app; it drives itself across open ground to you.
15–30 KM/H OPEN GROUNDAt any stop it holds itself upright — the exact trick Honda demoed at CES 2017. Drops the bike's most common failure: the slow-speed tip-over.
0 KM/H / STATIONARY| TIER | RUNS ON | JOB | WHY THERE |
| REFLEX | Bike MCU | Balance servo @500 Hz · kill switch · dead-man | Hard real-time. Phone crash ≠ fallen bike. |
| SKILLS | Jetson (bike) | LiDAR SLAM · perception · trajectory | GPU-class compute, P4. |
| COMMAND | K-A phone / K-B TC27 — docked | Voice AI · missions · modes · dash | Dock handoff = Complete Form. Undock → bike fallback, HOLD in 10 s. |
| SPEC | VALUE |
| Body | Custom matte-black 3D-printed slab — Decadriver silhouette, visible screws; LattePanda Mu Ultra inside, commission-assembled |
| Opened up | ≈ 19 × 12.5 cm × 3 cm; 7″ 1280×800 IPS touch; fullscreen launcher — no keyboard, by design |
| Deck | Touch launcher + 3× Sanwa arcade buttons printed into the shell |
| Heart | LattePanda Mu Ultra — Intel Lunar Lake, 16 GB LPDDR5X, 115 TOPS; real x86 Linux, real terminal, desktop apps |
| Power | Swappable 74 Wh USB-PD bank in the base — ~5–6 h active; USB-C PD on the bench |
| EXT bay | M.2 2280 slot — 1 TB NVMe rides inside; LTE/5G dongle or Wi-Fi 7 when it leaves the bench |
Look: a Game Boy XL grown up — matte-black slab, visible screws, Decadriver silhouette on the bench. Your GB color era, grown up.
Jobs: workshop bench by default, bag-portable street/dry · 7″ K-Touch twin — nine-tile launcher fullscreen · K-BRAIN dev box (8B-class models at ~10–15 tok/s on its iGPU) · K-DOCK bench tester · telemetry historian — every ride logged & replayed.
Modularity: M.2 2280 bay + USB-C/USB-A on the back panel — NVMe storage, LTE/5G dongle, whatever the mission needs.
Dock: garage shelf by default; optional rear-rack “Den cradle” (+$700) for street/dry missions — latched cradle, pogo-pin 20 W feed (drop-in, no cable, lifts clean in a get-off), Wi-Fi client, crash tether. Rain days it stays home.
Doesn’t gate anything — add any time (+$2,075, 20 h). Not pocket, but bag-portable; the phone still does pocket.
The owner-director path, spelled out end to end. You never swing a wrench or touch a soldering iron — every step is either a purchase, a commission, a gate you watch pass, or an agent-run desk job. Prices are supplier-listed; hours are contractor estimates at $80/h.
Buy: nothing yet — this phase is desk work. If you don't have one, a QGroundControl-class laptop ($1,200).
Commission: 2D inverted-pendulum kinematic sim of steer-correction balance (Python + ROS2 mock) plus a failure-mode matrix (by-wire fault at 40 km/h, UWB dropout mid-follow, GNSS multipath near buildings). This is remote/agent work — no shop needed.
Pre-order long-lead: Livox Mid-360 LiDAR ($750) + first Emlid Reach RS2+ ($2,700) at the end of this step so they arrive during the by-wire build.
Gate 0 — sim holds a virtual CRF300L upright at 3–25 km/h for 10 simulated minutes of trail noise. Watch the trace; no pass, no next step.
Buy (used, Swappa/Back Market grade B+): Galaxy S21+ or Pixel 7 Pro 256 GB, native UWB — $200. Rugged case + tempered glass — $30 (Amazon). LTE data SIM, any MVNO — ~$10/mo.
Commission (agent/dev, 30 h): K-Touch launcher app — 9-tile grid, jingles, mode logic, kiosk mode; K-BRAIN stack — Llama-3.2-3B Q4 + Whisper-tiny + Piper + openWakeWord, all offline ~2.5 GB, measured 10–15 tok/s on SD888-class; native UWB bring-up phone ↔ bike-side DW3000 anchors (10 h). The device is built before a single bike part is bought.
Optional parallel build — K-SLAB mission HQ (+$2,075, 20 h): all-retail kit per the K-C buy-list — Mu Ultra 256V kit $733 (lattepanda.com/dfrobot product-3147), 1 TB NVMe $50, VSDISPLAY 7″ 1280×800 touch kit $70 (ASIN B0CRNX8K29), 74 Wh PD bank $40, 3× Sanwa OBSF-30 + zero-delay encoder $35, wiring $45, shell print + 2 mm aluminum base $100 (JLCPCB/SendCutSend). Hardware $1,075; commission assembly $1,000. No keyboard, by design. Optional Den cradle later (+$700, 9 h): Tusk top rack + 4-pin pogo PD feed — drop-in power, lifts clean in a get-off, street/dry only.
Gate K — daily-driver the launcher for a week; tiles fire commands on a bench rig; native UWB ranges to one bench anchor at ±15 cm.
Buy the donor: used CRF300L, 2021–23, under 8k miles, $4,800–5,600 (CycleTrader / Facebook Marketplace / eBay Motors). Inspect: valve service done, chain & sprockets <50%, no tip-over scars on the bars.
Commission (shop): full service — oil, air filter, valve clearance check, fresh brake fluid; suspension clickers set for +25 kg payload (rear spring swap ~$120 if needed); Tusk pannier racks $180; 6 mm 6061 mounting plates on rack + handlebar clamps, $250.
You do: photograph every connector; record base ride data (0–60, braking, figure-8) as the control baseline.
Gate 1 — bike rides flawlessly stock. All later phases are additive and reversible.
Buy: Roboteq-class steering servo 15 N·m @ bars $4,500; e-bike linear brake actuator $900 (actuonix.com); throttle by-wire servo $600; hardware dead-man relay $400; Blue Sea-class inverter/relays/fuse block $800; custom harness $1,200; limit switches + E-stop $700.
Commission (shop, 80 h): bolt steering servo to triple clamp with quick-release coupling; brake servo on rear lever; throttle servo + cable on twist grip (reversible). Every connection soldered by the shop — you never touch it.
Human-priority proof (the one test that matters): servo active, yank the bars — the servo must yield every time, mechanically, not in code.
Escalation: straight-line hold at walking pace in an empty lot → 10 → 20 km/h straight lines → gentle sweepers.
Gate 2 — computer holds a straight line at 20 km/h for 500 m; dead-man proven with the cut-power yank test.
Buy: magnet array + 8-pin pogo assembly ~$120 (promaxpogopin-class), CAN-to-USB bridge ~$80, 20 W buck charge circuit ~$40, machined dock shell on RAM-Mount-class tower ~$160.
Commission (inside P2/P3 labor): dock mates at ~45°, magnets self-align in <2 s; 20 W pogo charge (full top-up ~48 min); USB2 over pogo = the handheld becomes the bike's dashboard; CAN bridge carries real commands; BLE/NFC handshake so a stranger's device gets dumb charge only.
Safety rule (never violated): docking alone never enables ignition — the physical key/fob stays a requirement. Dock = command authority, not a hotwire.
Lore skin (+$15, worth it): Final Kamen Ride jingle on mate, handlebar console backlights magenta while docked.
Buy: VectorNav VN-100 or Bosch BMI088 IMU stack $1,500; 2× Hall wheel encoders $300; 3× Qorvo DWM3000 UWB modules $450 (Mouser/Digi-Key); pocket tag $250; 2× 48 V 20 Ah Li-ion saddle packs $1,600 (em3ev.com); balance contingency $700.
Commission (90 h): IMU at CG hard-wired to compute; balance loop — steer-correction, no gyros, tuned at 3 km/h first; two bike anchors + pocket tag → follow controller; self-balancing stop-and-hold (the CES 2017 Honda trick); follow tests parking lot → gravel → mild trail.
Gate 3 — bike follows you 100 m through a parking lot, self-balances at every stop, never drops.
Buy: Jetson Orin NX 16 GB $1,300; Livox Mid-360 (from Step 0) $750; 2× Emlid Reach RS2+ rover+base $5,400; Insta360-class 360 cam $400; LTE link $150; geofence/kill-switch integration $600.
Commission (70 h): sensor fusion LiDAR + camera + RTK → local costmap (ROS2 Nav2); waypoint nav at 15–30 km/h; obstacle tests — pedestrian dummy, parked car, 30 cm drop; geofence + hard kill (relay cuts ignition + by-wire power).
Gate 4 — 20 successful fetches across a field with obstacles. The money shot: whistle from 200 m, it drives to you. Ship.
Daily: phone in pocket = FOLLOW brain. Whistle or slam the FETCH tile — it comes. At stops it holds itself upright.
Docked: K-Touch on the K-DOCK = Complete Form — all four modes armed, phone runs the HMI, logging. Undock → authority returns to bike fallback, HOLD after 10 s.
Never: Battle Mode, transformation hardware, dock-enables-ignition. The walls are held on purpose.
Standing rule — every gate is a video you watch and an approval you give. No phase starts without your GO.
Verbatim from the build plan. Every number is a supplier-listed price or a market-verified estimate. Buy in phase order — never front-load; each phase's hardware is bought only after the previous gate passes. Core total ≈ $82,100 (~10 months, 355 h labor @ $80/h, incl. 17% contingency) · optional adds: K-SLAB mission HQ +$2,075, Den cradle +$700. Labor @ $80/h — shop turns wrenches, you direct.
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Used UWB flagship phone | Galaxy S21+ / Pixel 7 Pro, 256 GB, grade B+ — native UWB, LTE, fast NPU | Swappa / Back Market | $200 |
| Rugged case + tempered glass | Poetic / Supcase class | Amazon | $30 |
| LTE data SIM | Data plan — FETCH calls out of dock | any MVNO | ~$10/mo |
| K-Touch launcher app | 9-tile grid, jingles, mode logic, kiosk mode — 30 h dev | agent/dev | in labor |
| K-BRAIN local AI stack | Llama-3.2-3B Q4 (llama.cpp Vulkan) + Whisper-tiny + piper + wake word; all offline ~2.5 GB; 10–15 tok/s on SD888-class | software | included |
| UWB bring-up | phone-native UWB ↔ bike-side DW3000 anchors via Android UWB API — 10 h | — | — |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Brain | LattePanda Mu Ultra 256V kit (module + carrier + cooler) | lattepanda.com / dfrobot.com (product-3147) | $733 |
| Storage | 1 TB NVMe (WD SN770 class) | Amazon | $50 |
| Screen | VSDISPLAY 7″ 1280×800 IPS capacitive-touch kit + HDMI driver board | Amazon (ASIN B0CRNX8K29) / vsdisplay.com | $70 |
| Power | 20,000 mAh / 74 Wh USB-PD bank (Anker 737-class; airline-legal) | Amazon | $40 |
| Controls | 3× Sanwa OBSF-30 arcade buttons + zero-delay USB encoder | Amazon / AliExpress | $35 |
| Wiring | Panel-mount USB-C, power switch, harness | Amazon | $45 |
| Shell | Matte-black 3D print + 2 mm aluminum base plate | JLCPCB / PCBWay print + SendCutSend plate | $100 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Top rack | Tusk top rack — bolts to stock subframe | Tusk | $103 |
| Cradle plate | 3D-printed, 4× Sorbothane isolation grommets, 2 over-center draw latches w/ safety catches, crash tether | commission fab | in HW |
| Power chain | Fused 12 V tap → 65 W PD module → 4-pin 3A pogo pair + PD trigger + USB-C breakout — hands the deck 20 V/1 A on seat | Amazon / promaxpogopin-class | $12 + $5 + $6 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Dev laptop | QGroundControl-class (if none) | — | $1,200 |
| Sim tooling | ROS2 Jazzy dev setup + sim | — | $200 |
| LiDAR pre-order | Livox Mid-360 — 360° × 59° FOV | livoxtech.com | $750 |
| RTK pre-order | Emlid Reach RS2+ #1 (2nd unit staged into P3) | emlid.com | $2,700 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Donor bike | Used CRF300L, 2021–23, <8k mi. Inspect: valve service done, chain/sprockets <50%, no tip-over scars on bars | CycleTrader / Facebook Marketplace / eBay Motors | $4,800–5,600 |
| Full service | Oil, air filter, valve clearance check, fresh brake fluid | local shop | in HW |
| Rear spring swap | Clickers set for +25 kg payload | — | ~$120 |
| Cargo rack | Tusk pannier racks | Tusk | $180 |
| Mounting plates | 6 mm 6061 plate on rear rack + handlebar clamp mounts | — | $250 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Steering actuator | Roboteq / custom servo, 15 N·m @ bars — quick-release coupling at triple clamp | roboteq.com / sur-pluscenter | $4,500 |
| Brake servo | E-bike class linear actuator on rear lever | actuonix.com | $900 |
| Throttle by-wire | Servo + cable on twist grip (reversible) | ditex / hobby class | $600 |
| Safety chain | Hardware dead-man: relay cuts servo power when rider touches grips | — | $400 |
| Inverter + relays + fuse block | Blue Sea class | bluewave marine supply | $800 |
| Wiring harness | Custom, soldered | — | $1,200 |
| Misc sensors | Limit switches, E-stop | — | $700 |
| Integration labor | 80 h | — | $6,400 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Magnet array + pogo assembly | 8-pin power+data dock, Qi2-class alignment | promaxpogopin-class suppliers | ~$120 |
| CAN-to-USB bridge | Vehicle bus link — docked handheld commands the bike network | — | ~$80 |
| 20 W buck charge circuit | Charges handheld from 48 V robot pack | — | ~$40 |
| Dock shell | Machined, on RAM-Mount-class handlebar tower | — | ~$160 |
| Lore skin (optional) | Final Kamen Ride jingle speaker on mate + magenta backlight | — | $15 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| IMU | VectorNav VN-100 or Bosch BMI088 stack — 6-axis, 800 Hz, mounted at CG | vectornav.com / Mouser | $1,500 |
| Wheel encoders ×2 | Hall-type | — | $300 |
| UWB tag + anchors | Qorvo DWM3000 modules ×3 — ±10 cm ranging | Mouser / Digi-Key | $450 |
| Pocket tag | UWB beacon in a case | — | $250 |
| Bike batteries | 2× Li-ion 48 V 20 Ah saddle packs | em3ev.com / Chi Battery | $1,600 |
| RTK unit #2 | Emlid Reach RS2+ (staged from P0) | emlid.com | $2,700 |
| Balancer integration | 90 h labor | — | $7,200 |
| Contingency hardware | 2nd servo, spares | — | $700 |
| Item | Exact spec | Vendor | Est. |
|---|---|---|---|
| Compute | Jetson Orin NX 16 GB dev kit — 157 TOPS | Waveshare / Amazon | $1,300 |
| LiDAR | Livox Mid-360 (arrives from P0 pre-order) | livoxtech.com | $750 |
| RTK | 2× Emlid Reach RS2+ (rover + base) — ~2 cm absolute | emlid.com | $5,400 |
| 360 camera | Insta360 class — visual backup to LiDAR | — | $400 |
| LTE link | Remote whistle | — | $150 |
| Geofence + kill-switch | HW kill on geofence breach — relay cuts ignition + by-wire power | — | $600 |
| Autonomy stack integration | 70 h labor | — | $5,600 |
| Field tuning, misc, spares | — | — | $8,400 |
| Category | Supplier | What |
|---|---|---|
| Donor | CycleTrader / FBM / eBay | Used CRF300L |
| Compute | Waveshare (Amazon) | Jetson Orin NX 16 GB |
| LiDAR | Livox (livoxtech.com) | Mid-360 |
| RTK | Emlid (emlid.com) | 2× Reach RS2+ |
| UWB | Qorvo DWM3000 via Mouser | Ranging modules |
| IMU | VectorNav / Bosch via Mouser | VN-100 / BMI088 |
| Servos | Roboteq / Actuonix | Steering + brake |
| Batteries | EM3ev | 48 V 20 Ah packs |
| Racks | Tusk | Pannier racks |
| Fasteners/plate | McMaster-Carr | Everything |
| Component | Function | Status |
|---|---|---|
| Steer-by-wire servo | Computer applies steering torque; disengages fully under rider input | SHIPPING TECH |
| Brake + throttle by-wire | Speed control for autonomous modes; layered over stock controls | SHIPPING TECH |
| IMU + wheel encoders | Balance controller — steer-correction method, no reaction wheel | PROVEN (HONDA) |
| UWB follow tag | Centimeter-grade relative positioning for follow-me | SHIPPING TECH |
| RTK-GNSS (base + rover) | ~2 cm absolute positioning for fetch waypoints | SHIPPING TECH |
| 360° cam + solid-state LiDAR | Obstacle detection and path planning at low speed | SHIPPING TECH |
| Jetson Orin NX | Onboard autonomy compute; the "support mecha AI" | SHIPPING TECH |
| Trail-speed autonomy | Self-riding at pace on uneven terrain | RESEARCH-GRADE |
| Battle Mode / flight | Out of scope — power density wall, not attempted | FICTION (HELD) |