Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Simulation · Simulation & Digital Twins
MuJoCo 3.3·
MuJoCo (Multi-Joint dynamics with Contact) is a rigid-body physics simulation engine created by Emo Todorov in 2008 at the University of Washington. For over a decade it was a commercial, affordable tool dominating contact-rich robotics (dexterous manipulation, locomotion). In October 2021, DeepMind acquired MuJoCo and open-sourced the code under the Apache 2.0 license — fully publicly available since May 2022.
MuJoCo is characterized by: (1) the most accurate contact simulation in its open-source class thanks to soft-constraint LCP (Linear Complementarity Problem), (2) high performance — typically 4000×–10000× faster than real time for small models, (3) a deterministic, gradient-friendly model for differentiable simulation, (4) the native MJCF (MuJoCo XML) description language and a URDF importer, (5) GPU support via MJX (JAX-based) since 2023.
An industry standard in reinforcement learning: OpenAI Gym, Google Brain, DeepMind Control Suite, Meta AI Habitat, Stanford ALOHA, Berkeley DRL, most NeurIPS/ICML/CoRL publications from 2018–2025. The reference MuJoCo Menagerie models include Unitree Go2/G1, Boston Dynamics Spot, Franka Panda, Atlas, ANYmal, Shadow Hand, and dozens more.
Simulation software is used for modelling, testing, and validating robot behaviours, sensor characteristics, environments, and algorithms without requiring physical hardware. It enables safe, repeatable, and cost-effective development cycles. Common robotics simulators include Gazebo, Isaac Sim (NVIDIA), MuJoCo, PyBullet, and Webots, each offering different trade-offs between physics accuracy, rendering fidelity, and integration with middleware frameworks such as ROS 2.
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.
An API Library is a software package that exposes programmatic interfaces for communicating with a device, service, or system. In robotics it typically forms a lightweight integration layer built on top of the manufacturer's official API or an open-source project, abstracting low-level protocol details and providing language-native bindings (Python, C++, Java, etc.).
A family of open-source and commercial physics simulators for robotics: Gazebo, Webots, MuJoCo, PyBullet, Isaac Lab, CoppeliaSim, Genesis, and related tools. Common denominator: rigid-body physics engine, URDF/MJCF model support, ROS/ROS 2 integration, sim-to-real transfer.
OpenAI Five (Dota 2 → Dexterous Hand), Boston Dynamics Atlas (locomotion research), Tesla Optimus walking policy training, Figure 02/03 manipulation policies, Stanford ALOHA bimanual, Google RT-2, NVIDIA Eureka, Stanford Mobile ALOHA. Tens of thousands of RL publications.
github.com/google-deepmind/mujoco 9.5k★, github.com/google-deepmind/mujoco_menagerie 1.8k★, MuJoCo Discord ~4k members, official support at mujoco.readthedocs.io, > 200 talks at RL/Robotics conferences.
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.
General-purpose humanoid robot developed by Tesla since 2021 (Tesla Bot). About 173 cm tall, 57 kg, 20 kg payload. Generation 3 hands have 22 degrees of freedom. Controlled by an AI system derived from Tesla FSD.
Boston Dynamics bipedal humanoid robot. The fully electric generation unveiled in 2024 succeeds the hydraulic Atlas that was retired after more than a decade of research.
Tutor Intelligence industrial robot designed for palletizing, depalletizing and case-picking in warehouses and factories, offered as Robotics-as-a-Service from $14/hr.
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.
The lightest of major simulators — starts in seconds. MJX allows > 1000 parallel environments on a single GPU.
License family: Permissive
FEM stabilization, new USD (Pixar Universal Scene Description) importer.
Soft-body simulation (FEM) introduced as experimental.
New Menagerie models: Unitree G1, Booster T1, Apptronik Apollo.
GPU-accelerated JAX version for RL across thousands of environments.
Open-source under Apache 2.0; native Python support.
First free release after the DeepMind acquisition.
