References
Canonical upstream links for every component mentioned in these docs. When a
claim in another file cites upstream, the link is here. Treat this as the
source-of-truth for re-verification.
Hardware
| Resource |
URL |
What's there |
| M5Stack StackChan README |
https://github.com/m5stack/StackChan |
Our firmware codebase. Body spec (servos, LEDs, NFC, IR, touch, battery). |
| M5Stack CoreS3 datasheet |
https://docs.m5stack.com/en/core/CoreS3 |
SoC, memory, display, camera, IMU, PMU, audio codec part numbers. |
| meganetaaan/stack-chan (original) |
https://github.com/meganetaaan/stack-chan |
TypeScript/Moddable JS origin project — we don't run this, but it's the lineage. |
| 78/xiaozhi-esp32 firmware (generic) |
https://github.com/78/xiaozhi-esp32 |
Multi-board voice-assistant firmware. Authority for the WS + MCP protocols below. |
Voice pipeline
| Resource |
URL |
What's there |
| xiaozhi-esp32-server |
https://github.com/xinnan-tech/xiaozhi-esp32-server |
Our Docker server. README lists all provider options. |
| xiaozhi-esp32-server (English README) |
https://github.com/xinnan-tech/xiaozhi-esp32-server/blob/main/README_en.md |
English feature catalog. |
| xiaozhi.dev docs portal |
https://xiaozhi.dev/en/docs/ |
Protocol + emotion docs. |
| FunAudioLLM / SenseVoiceSmall |
https://huggingface.co/FunAudioLLM/SenseVoiceSmall |
ASR model card. Languages, SER, AED, latency figures. |
| FunASR project |
https://github.com/modelscope/FunASR |
Toolkit that hosts SenseVoice. |
| Silero VAD |
https://github.com/snakers4/silero-vad |
VAD tunables, version history, limitations. |
| Piper TTS (engine) |
https://github.com/rhasspy/piper |
Local neural TTS. |
| rhasspy/piper-voices |
https://huggingface.co/rhasspy/piper-voices |
Voice catalog (includes en_GB-cori-medium). Repo license MIT; individual voices carry their own. |
| rany2/edge-tts |
https://github.com/rany2/edge-tts |
Unofficial EdgeTTS library — the technique we use, not the official path. |
Brain
| Resource |
URL |
What's there |
| ZeroClaw |
https://github.com/zeroclaw-labs/zeroclaw |
Agent runtime. Architecture, workspace files, providers, MCP support. Rust / dual MIT+Apache-2.0. |
| Qwen3-30B-A3B-Instruct-2507 |
https://huggingface.co/Qwen/Qwen3-30B-A3B-Instruct-2507 |
Model card. Param counts, experts, context length, sampling recommendations. |
| OpenRouter (Qwen3 page) |
https://openrouter.ai/qwen/qwen3-30b-a3b-instruct-2507 |
Pricing, latency, provider availability. |
| OpenRouter docs |
https://openrouter.ai/docs |
Tool calling, streaming, failover. |
| Qwen-Agent |
https://github.com/QwenLM/Qwen-Agent |
Tool-use framework recommended by the Qwen3 card. |
Protocols
| Resource |
URL |
What's there |
| Xiaozhi WebSocket protocol |
https://github.com/78/xiaozhi-esp32/blob/main/docs/websocket.md |
Full message catalog, hello shape, binary audio framing. |
| Xiaozhi MCP protocol |
https://github.com/78/xiaozhi-esp32/blob/main/docs/mcp-protocol.md |
tools/list, tools/call, AddTool vs AddUserOnlyTool. |
| Xiaozhi emotion docs |
https://xiaozhi.dev/en/docs/development/emotion/ |
21-emotion catalog + wire format. |
| Agent Client Protocol |
https://agentclientprotocol.com |
ACP spec (Zed-originated). JSON-RPC 2.0 over stdio/HTTP/WS. |
| ACP prompt-turn spec |
https://agentclientprotocol.com/protocol/prompt-turn |
session/prompt, session/update, session/cancel, session/request_permission. |
| MCP (Model Context Protocol) |
https://modelcontextprotocol.io |
The base spec ACP reuses JSON shapes from. |
Pricing (volatile)
OpenRouter pricing changes often — values below are most recently observed per references.md#brain but should be re-fetched before quoting.
| Model |
$/M input |
$/M output |
Source |
| Qwen3-30B-A3B-Instruct-2507 |
~$0.08 |
~$0.28 |
OpenRouter (check live) |
Licensing summary
| Component |
License |
Notes |
| ZeroClaw |
MIT / Apache-2.0 (dual) |
Binary is yours to run. |
| FunASR / SenseVoiceSmall |
Check the HF card |
Weights license varies. |
| SileroVAD |
MIT |
— |
| Piper engine |
MIT |
— |
| Piper voices |
MIT repo, per-voice varies |
en_GB-cori-medium license — verify before redistributing your robot's outputs. |
| EdgeTTS |
N/A — reverse-engineered |
Microsoft can cut it off at any time. No support. |
| xiaozhi-esp32 firmware |
See repo |
Modify and redistribute per upstream. |
| xiaozhi-esp32-server |
See repo |
Same. |
| m5stack/StackChan |
See repo |
— |
| meganetaaan/stack-chan |
MIT (check repo) |
Original project. |
| Qwen3 model weights |
See HF card |
Commercial-use terms vary by Qwen release. |
| This repo |
MIT |
See ../LICENSE. |
Always verify licensing on the upstream page before redistribution — this table paraphrases and may drift.
See also
Last verified: 2026-05-17.