Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Development · Control & Planning
LeRobot 1.5 + Unitree G1 support·
**LeRobot** is Hugging Face's flagship AI-robotics project, announced in May 2024 (lead: Remi Cadene, ex-Tesla Autopilot). Mission: 'democratize AI robotics' by providing a complete, open pipeline — from affordable hardware (~USD 250 SO-100 Standard Open Arm gates designed by The Robot Studio + Hugging Face) to pretrained models and datasets on the HuggingFace Hub.
The library contains SOTA policy implementations in PyTorch: **ACT** (Action Chunking with Transformers, the original from Mobile Aloha), **Diffusion Policy** (Columbia, actions as conditional diffusion), **VQ-BeT** (Vector-Quantized Behavior Transformer), **TDMPC** (Temporal Difference Model Predictive Control), **π0** (since April 2025 — official integration with Physical Intelligence). Each model has a standard interface: `Policy(observation) -> action`, compatible with gym and LeRobot datasets.
Datasets: LeRobot introduces the **LeRobotDataset** — a standard demonstration format based on Parquet + Hugging Face Datasets, with metadata (camera intrinsics, action space spec, robot model). 50+ public datasets (PushT, ALOHA Cube Transfer, Mobile Aloha Towel Folding, SO-100 demos). Hardware: official support for the **SO-100** (a 5-DOF leader + follower arm pair for ~USD 250, 3D printing + standard DYNAMIXEL servos), **Koch Arm**, **ALOHA**, **Stretch RE2**, **Unitree G1**, plus prototype support for custom robots.
Ecosystem: native integration with HuggingFace Spaces (interactive demos), a Trainer API (fine-tune a policy in one line), TensorBoard logging, video recording. Active development — ~30 commits/week, ~80 active contributors (Q1 2026). Targets: academic research, education, hobbyist robotics, startups testing VLAs on their own task domains.
An SDK (Software Development Kit) is a curated set of libraries, interfaces, tools, sample code, and documentation intended for building applications and integrating with a specific hardware device, platform, or service. In robotics, an SDK typically exposes device control, telemetry, sensor access, configuration, and execution functions, significantly reducing the time-to-first-integration for developers targeting a specific robot or platform.
A Developer Tool is software designed to support the development workflow, including configuration, debugging, testing, monitoring, validation, and integration of robotic and embedded systems. Examples include IDE plugins, visual debuggers, log analysers, hardware-in-the-loop (HIL) test harnesses, and code-generation utilities specific to robotics platforms.
A Runtime is the environment or execution layer used to run code, load libraries, manage dependencies, and operate applications or services — either in real time or during normal system operation. In robotics this includes real-time operating system (RTOS) runtimes, ROS 2 executor runtimes, containerised execution environments (Docker, podman), and embedded C++ runtimes on microcontrollers.
A family of open Vision-Language-Action (VLA) and foundation models for robotics: OpenVLA (Stanford/Berkeley), LeRobot (Hugging Face), RoboAgent (CMU), RT-2 (Google DeepMind, publication). Trained on datasets such as Open X-Embodiment, BridgeData V2, and RoboNet.
Education: courses at Stanford CS 224R, MIT 6.4200, EPFL Robot Learning use LeRobot as a baseline. The SO-100 has become a popular hobbyist arm (~5,000 units printed by Q1 2026 according to community reports). Startups: Skild AI, Nimble Robotics, Realbotix use LeRobot for prototyping. HuggingFace Spaces: 200+ public demos with LeRobot policies. Showcased at CES 2025 (Hugging Face booth with 6 SO-100 robots performing tasks).
github.com/huggingface/lerobot ~9.5k★, ~1,100 forks (Q1 2026). PyPI `lerobot` ~30k downloads/month. HuggingFace Hub has ~50 LeRobot datasets + 80 policy checkpoints. LeRobot Discord ~6k active members. Active development: ~30 commits/week, ~80 active contributors.
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Unitree H1 is a full-size general-purpose humanoid robot (~180 cm, ~47 kg). Bipedal, 5 DOF per leg + 4 DOF per arm, 3.3 m/s walking speed, 360° perception via 3D LiDAR + depth camera, Unitree M107 PMSM joint motors with ~360 N·m peak knee torque. Standard compute: Intel Core i5/i7; optional NVIDIA Jetson Orin NX.
Figure 03 is the third-generation humanoid robot from Figure AI, designed for Helix, home environments, and scalable mass production.
Compact, high-dynamics bipedal humanoid by MagicLab. 140 cm, 40 kg, 24–50 DOF, walking speed up to 2.5 m/s. Unveiled on 8 July 2025 with martial arts and acrobatic demos.
Ubuntu 24.04 LTS 'Noble Numbat' — supported until April 2029. The host for ROS 2 Jazzy.
PyPI `lerobot` (`pip install lerobot`). SO-100 hardware can be 3D printed — STEP files + BOM are provided in the repo. Requires DYNAMIXEL servos (~USD 150 per set) + Raspberry Pi 5 or a mini-PC.
License family: Permissive
Official support for the Unitree G1 humanoid (datasets + policy fine-tuning recipes).
API stabilization, backward compatibility guarantee, official release notes per minor version.
Official integration of π0 (Physical Intelligence) with LeRobot — fine-tune π0 in a single line of code.
Introduction of VQ-BeT (Vector-Quantized Behavior Transformer) as a native policy. Reformulates action discretization.
Launch of the affordable open 5-DOF SO-100 arm (~USD 250), 3D-printed, with BOM and assembly instructions.
First public announcement of the Hugging Face library. Support for ACT, Diffusion Policy, TDMPC. PushT baseline.
