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.Comment: 21 pages, 7 figures, 6 table