Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Control · Control & Planning
0.8 (Research Preview)·Unitree Robotics
UnifoLM (Unitree Foundational Model) is an internal foundation model developed by Unitree Robotics, officially announced at ChinaJoy 2024 and published in Unitree's Research section in 2025. UnifoLM is a Vision-Language-Action (VLA) model — it takes RGB images from the main camera, depth from a Livox LiDAR or RealSense, a language instruction (e.g., 'walk to the chair and sit down'), and emits a stream of low-level actions (joint torques, joint positions, foot placement).
The UnifoLM architecture is a transformer with three heads: a visual encoder (DINOv2 variant), a language encoder (Qwen-2 variant), and an action decoder (Diffusion Policy). Training ran on an NVIDIA HGX H100 cluster with synthetic Isaac Lab data and data collected from 100+ Unitree H1/G1 units during internal testing. The model is released as a pretrained checkpoint for external researchers.
UnifoLM is deployed onboard on NVIDIA Jetson AGX Orin with 20-40 ms action prediction latency. Used in Unitree's CES 2025 demonstrations (unboxing, card games, dancing). It competes with Figure Helix, Tesla Optimus Neural Network, and NVIDIA GR00T N1.
A Control Stack is the set of software components responsible for control logic, motion planning, command execution, and coordination of a robot's actuators. It receives high-level goals or waypoints (from planning or AI layers) and translates them into low-level actuator commands, closed-loop feedback control, and safety checks. Common implementations include MoveIt (arm manipulation), Nav2 (mobile navigation), and custom whole-body control stacks for humanoids.
A Perception Stack encompasses the software layers that process data from cameras, LiDARs, IMUs, microphones, and other sensors in order to recognise the surrounding environment, perform localisation, detect and track objects, and interpret the scene. It is typically the first processing stage in an autonomous robot's data pipeline, feeding its outputs to planning and control stacks.
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.
Unitree H1 and G1 during CES 2025 and ChinaJoy 2024 demonstrations. Internal research at Unitree partner labs (Tsinghua, ShanghaiTech).
No public community — the model is distributed under NDA to academic partners. A public release is announced for Q3 2025.
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.
Model ~6 GB FP16 / ~3 GB INT8. Inference 20-40 ms on Jetson AGX Orin 64 GB.
License family: Proprietary – Commercial
Checkpoint released to academic partners.
CES 2025 demonstration: H1 and G1 performing manipulation tasks.
First public announcement at ChinaJoy 2024.
