I'm Ben. I'm an AI and robotics engineer.
About Me
I was formerly the founder and CEO / CTO of a company called K-Scale Labs. We built general-purpose robots to bring embodied intelligence into the real world. We made this technology open-source and free for anyone to audit, build upon, and optimize for their own use cases.
I have also previously worked as an AI researcher and engineer at Tesla, Meta, Google and Amazon. At Tesla, I trained and deployed the first autoregressive transformer for outputting car waypoints, which required rewriting the neural network compiler for Tesla's HW3 ASIC. I also wrote the CUDA kernels to generate the ground truth data for training our voxel occupancy network, which was later adapted to be used by the Optimus robot. At Meta, I trained and deployed the first transformer model for content moderation, before transitioning into AI research. I co-developed one of the first large-scale speech foundation models (a billion parameters was large by 2021 standards), which has since been adopted by the open-source community for applications like offline voice cloning and speech generation. I also worked briefly on semantic mapping for robotics.
I obtained my degree in Mathematics and Computer Science from Emory University, where I also did extensive research in computational neuroscience as part of an NIH-funded training grant, the highlight of which was meeting the woman who is now my wife. Most of this grant was spent working in the Hasler lab at Georgia Tech on neuromorphic computing with analog circuits, which is where I first developed an interest in deep learning. After graduating, I took a three-month break to attend a language school in rural China, which I consider to be the best career decision I've ever made.
Quotes I Like
Literature
Why do people have to be this lonely? What's the point of it all? Millions of people in this world, all of them yearning, looking to others to satisfy them, yet isolating themselves. Why? Was the earth put here just to nourish human loneliness?
I saw my life branching out before me like the green fig tree in the story. From the tip of every branch, like a fat purple fig, a wonderful future beckoned and winked. One fig was a husband and a happy home and children, and another fig was a famous poet and another fig was a brilliant professor, and another fig was Ee Gee, the amazing editor, and another fig was Europe and Africa and South America, and another fig was Constantin and Socrates and Attila and a pack of other lovers with queer names and offbeat professions, and another fig was an Olympic lady crew champion, and beyond and above these figs were many more figs I couldn't quite make out. I saw myself sitting in the crotch of this fig tree, starving to death, just because I couldn't make up my mind which of the figs I would choose. I wanted each and every one of them, but choosing one meant losing all the rest, and, as I sat there, unable to decide, the figs began to wrinkle and go black, and, one by one, they plopped to the ground at my feet.
But who can say what's best? That's why you need to grab whatever chance you have of happiness where you find it, and not worry about other people too much. My experience tells me that we get no more than two or three such chances in a life time, and if we let them go, we regret it for the rest of our lives.
I must not fear. Fear is the mind-killer. Fear is the little-death that brings total obliteration. I will face my fear. I will permit it to pass over me and through me. And when it has gone past I will turn the inner eye to see its path. Where the fear has gone there will be nothing. Only I will remain.
And, when you want something, all the universe conspires in helping you to achieve it.
And that's the thing about people who mean everything they say. They think everyone else does too.
Every morning in Africa, a gazelle wakes up, it knows it must outrun the fastest lion or it will be killed. Every morning in Africa, a lion wakes up. It knows it must run faster than the slowest gazelle, or it will starve. It doesn't matter whether you're the lion or a gazelle-when the sun comes up, you'd better be running.
Not everything that is faced can be changed; but nothing can be changed until it is faced.
"I made up my mind I was going to find someone who would love me unconditionally three hundred and sixty five days a year, I was still in elementary school at the time - fifth or sixth grade - but I made up my mind once and for all."
"Wow," I said. "Did the search pay off?"
"That's the hard part," said Midori. She watched the rising smoke for a while, thinking. "I guess I've been waiting so long I'm looking for perfection. That makes it tough."
"Waiting for the perfect love?"
"No, even I know better than that. I'm looking for selfishness. Perfect selfishness. Like, say I tell you I want to eat strawberry shortcake. And you stop everything you're doing and run out and buy it for me. And you come back out of breath and get down on your knees and hold this strawberry shortcake out to me. And I say I don't want it anymore and throw it out the window. That's what I'm looking for."
"I'm not sure that has anything to do with love," I said with some amazement.
"It does," she said. "You just don't know it. There are time in a girl's life when things like that are incredibly important."
"Things like throwing strawberry shortcake out the window?"
"Exactly. And when I do it, I want the man to apologize to me. "Now I see, Midori. What a fool I have been! I should have known that you would lose your desire for strawberry shortcake. I have all the intelligence and sensitivity of a piece of donkey shit. To make it up to you, I'll go out and buy you something else. What would you like? Chocolate Mousse? Cheesecake?"
"So then what?"
"So then I'd give him all the love he deserves for what he's done."
"Sounds crazy to me."
"Well, to me, that's what love is…"
Philosophy
And those who were seen dancing were thought to be insane by those who could not hear the music.
You could not step twice into the same river; for other waters are ever flowing on you.
The best fighter is never angry.
If someone succeeds in provoking you, realize that your mind is complicit in the provocation.
Man is not worried by real problems so much as by his imagined anxieties about real problems.
Anger, if not restrained, is frequently more hurtful to us than the injury that provokes it.
Per aspera ad astra.
Resentment is like drinking poison and hoping the other person dies.
Be more concerned with your character than your reputation, because your character is what you really are, while your reputation is merely what others think you are.
When another person makes you suffer, it is because he suffers deeply within himself. He does not need punishment; he needs help.
The test of a first‑rate intelligence is the ability to hold two opposed ideas in the mind at the same time, and still retain the ability to function.
Film
Training is nothing, will is everything - the will to act.
Beneath this mask, there is more than flesh. Beneath this mask there is an idea, Mr. Creedy, and ideas are bulletproof.
Mess with the best, die like the rest.
Do you want to take a leap of faith, or become an old man, filled with regret, waiting to die alone?
Poetry
I work all day, and get half-drunk at night.
Waking at four to soundless dark, I stare.
In time the curtain-edges will grow light.
Till then I see what's really always there:
Unresting death, a whole day nearer now,
Making all thought impossible but how
And where and when I shall myself die.
Arid interrogation: yet the dread
Of dying, and being dead,
Flashes afresh to hold and horrify.
Out of the night that covers me,
Black as the pit from pole to pole,
I thank whatever gods may be
For my unconquerable soul.
In the fell clutch of circumstance
I have not winced nor cried aloud.
Under the bludgeonings of chance
My head is bloody, but unbowed.
Beyond this place of wrath and tears
Looms but the Horror of the shade,
And yet the menace of the years
Finds and shall find me unafraid.
It matters not how strait the gate,
How charged with punishments the scroll,
I am the master of my fate,
I am the captain of my soul.
I met a traveller from an antique land,
Who said—"Two vast and trunkless legs of stone
Stand in the desert. . . . Near them, on the sand,
Half sunk a shattered visage lies, whose frown,
And wrinkled lip, and sneer of cold command,
Tell that its sculptor well those passions read
Which yet survive, stamped on these lifeless things,
The hand that mocked them, and the heart that fed;
And on the pedestal, these words appear:
My name is Ozymandias, King of Kings;
Look on my Works, ye Mighty, and despair!
Nothing beside remains. Round the decay
Of that colossal Wreck, boundless and bare
The lone and level sands stretch far away."
Historical Figures
In battle, in forest, at the precipice in the mountains, On the dark great sea, in the midst of javelins and arrows, In sleep, in confusion, in the depths of shame, The good deeds a man has done before defend him.
In the middle of difficulty lies opportunity.
The great liability of the engineer compared to men of other professions is that his works are out in the open where all can see them. His acts, step by step, are in hard substance. He cannot bury his mistakes in the grave like the doctors. He cannot argue them into thin air or blame the judge like the lawyers. He cannot, like the politicians, screen his shortcomings by blaming his opponents and hope the people will forget. The engineer simple cannot deny he did it. If his works do not work, he is damned."
A man does what he must — in spite of personal consequences, in spite of obstacles and dangers and pressures — and that is the basis of all human morality.
Let us therefore brace ourselves to our duties, and so bear ourselves that, if the British Empire and its Commonwealth last for a thousand years, men will still say, "This was their finest hour."
What is the use of a newborn baby?
Americans love to fight. All real Americans love the sting and clash of battle. When you were kids, you all admired the champion marble shooter, the fastest runner, the big-league ball players and the toughest boxers. Americans love a winner and will not tolerate a loser. Americans play to win all the time.
The reason the American army does so well in wartime, is that war is chaos, and the American army practices chaos on a daily basis.
If we don't know what we are doing, the enemy certainly can't anticipate our future actions!
People who are really serious about software should make their own hardware.
An engineer is someone who can do for a dime what any fool can do for a dollar.
The details are not the details. They make the design.
Religious Texts
When I was a child, I spake as a child, I understood as a child, I thought as a child: but when I became a man, I put away childish things.
Consider it pure joy, my brothers and sisters, whenever you face trials of many kinds, because you know that the testing of your faith produces perseverance. Let perseverance finish its work so that you may be mature and complete, not lacking anything.
Not only so, but we also glory in our sufferings, because we know that suffering produces perseverance; perseverance, character; and character, hope. And hope does not put us to shame, because God's love has been poured out into our hearts through the Holy Spirit, who has been given to us.
And let us not grow weary of doing good, for in due season we will reap, if we do not give up.
For the righteous falls seven times and rises again, but the wicked stumble in times of calamity.
For what is a man profited, if he shall gain the whole world, and lose his own soul?
Anger towards another is just as if someone wishing to hit another person takes hold of glowing coals, or a heated iron-rod, or of excrement.
Startups
Our second biggest cost is taxes, our biggest cost is opportunity cost.
Pessimists sound smart. Optimists make money.
The best lack all conviction, while the worst are full of passionate intensity
Being strong-willed is not enough, however. You also have to be hard on yourself. Someone who was strong-willed but self-indulgent would not be called determined. Determination implies your willfulness is balanced by discipline.
The recipe for great work is: very exacting taste, plus the ability to gratify it.
Tools I Use
| Mac Mouse Fix | Lets you use third-party mouse buttons to control stuff (e.g., moving between screens with side buttons and showing Mission Control with the center button). |
| Rectangle | Lets you snap to parts of your screen. Also FOSS, source code is on Github with a pro version for $10 |
| Tailscale | A WireGuard-based mesh network that lets you connect to devices through arbitrary NATs. |
| Bambu X1 Carbon | A high-quality 3D printer. |
| Daylio | A simple daily note taking app. |
| BodBot | An AI personal trainer. |
| Cal.ai | A calendar app that uses AI to help you schedule your time. |
| Cool Youtube Videos | A YouTube playlist of random videos I thought were cool. |
Media I Like
| How To Win | The foundational video for starting a startup. |
| Guided Loving Kindness Meditation | I find Buddhist compassion meditation to be foundational for maintaining a high-agency mentality. |
| Hackers | Must-see movie for anyone working in tech. |
| The Magic of Ordinary Days | One of the best romance movie that I've watched. |
| Welcome to the N.H.K. | Poignant anime about modernity, masculinity and loneliness. |
Investments I've Made
| Sunday Robotics | 04/2024 | Helpful general-purpose robots |
| Tuesday Lab | 04/2024 | Delightful robots |
| Anvil Robotics | 10/2025 | Robot foundry |
| Steel Bot | 02/2026 | Humanoid robot from first principles |
| Menlo Research | 02/2026 | Open-source full-stack humanoid robot |