Berkeley Humanoid Lite

An open-source small humanoid from Berkeley, with most parts printable on a desktop 3D printer.

Berkeley Humanoid Lite was released in April 2025 by UC Berkeley's Hybrid Robotics lab, paper arXiv 2504.17249, published at RSS 2025. It stands about 0.8 meters tall, weighs about 16 kg, and uses 3D-printed cycloidal reducers paired with motors at its joints; the hardware, code, and training environment are all fully open-sourced, with the paper estimating a parts cost of about $4,300 in the US and about $3,200 in China, both under $5,000 overall. It is meant to address the problem that humanoid robots are too expensive and the barrier to research too high: a student can print and assemble one themselves, then train a reinforcement-learning walking policy with Isaac Lab and deploy it to the real robot.

ExampleThe team deployed a reinforcement-learning policy trained in simulation onto their self-assembled Humanoid Lite to make it walk on the real robot.

Related

Open-Source Hardware (OSHW) · Small-size Humanoid Robot · Cycloidal Reducer · 3D Printing (FDM / Resin SLA) · Berkeley Artificial Intelligence Research · Sim-to-Real Transfer

Sources

Demonstrating Berkeley Humanoid Lite (arXiv 2504.17249)
Berkeley Humanoid Lite project page

As of

2025-04