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We present our results of the $K_{l3}$ form factors on the volume whosespatial extent is more than $L=$10 fm, with the physical pion and kaon massesusing the stout-smearing clover $N_f = 2+1$ quark action and Iwasaki gaugeaction at $a^{-1}\approx2.3$ GeV. The $K_{l3}$ form factor at zero momentumtransfer is obtained from fit based on the next-to-leading (NLO) formula inSU(3) chiral perturbation theory. We estimate systematic errors of the formfactor, mainly coming from the finite lattice spacing effect. We also determinethe value of $|V_{us}|$ by combining our result with the experiment and checkthe consistency with the standard model prediction. The result is compared withthe previous lattice calculations.

$K_{l3}$ form factors in $N_f = 2+1$ QCD at physical point on large volume