Tiangong (天工, 'Heavenly Craft') is China's first open-source humanoid robot platform, developed by the Beijing Humanoid Robot Innovation Center (THR). The platform results from collaboration among China's leading robotics companies and research institutes.
The robot stands 175 cm tall, weighs 56 kg, and features 20 degrees of freedom: 12 in the legs and 4 in each arm. As a Sim2Real platform, it uses the MuJoCo physics engine and deploys RL policies via ONNX inference on the SpacemiT K3 compute board.
In April 2025, Tiangong Ultra won the world's first humanoid robot half-marathon (Beijing E-Town Half-Marathon), completing the 21.1 km course in 2 hours and 40 minutes. The platform is released as an open-source project under the Apache 2.0 license.