Tiangong Ultra is a full-size electric humanoid robot developed by the Beijing Humanoid Robot Innovation Center (also known as X-Humanoid). It is the second, running-optimized generation of the Tiangong platform, distinct from the base Tiangong model and the later 2.0/3.0 versions.
On 19 April 2025, Tiangong Ultra won the world's first humanoid robot half-marathon, held in Beijing's Yizhuang (E-Town) district. It completed the 21.0975 km course in 2 h 40 min 42 s, the only robot to finish within the time limit, requiring three hot-swap battery changes.
Its motion control is based on reinforcement learning (RL) with a sim-to-real approach and whole-body control; the locomotion policy code has been open-sourced (Isaac Lab / MuJoCo). The robot runs on the "Huisi Kaiwu" (慧思开物) embodied-intelligence platform, and much of its hardware design and software is open.
Dimensions, weight and structural proportions
