We present the first calculation of the kaon semileptonic form factor with sea and valence quark masses tuned to their physical values in the continuum limit of 2+1 flavour domain wall lattice QCD. We analyse a comprehensive set of simulations at the phenomenologically convenient point of zero momentum transfer in large physical volumes and for two different values of the lattice spacing. Our prediction for the form factor is f+(0)=0.9685(34)(14) where the first error is statistical and the second error systematic. This result can be combined with experimental measurements of K->pi decays for a determination of the CKM-matrix element for which we predict |Vus|=0.2233(5)(9) where the first error is from experiment and the second error from the lattice computation.
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