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Unitree G1

~$13.5–16k (base)

The 23-DoF-base humanoid with dexterous hands — the indoor R&D platform for universities, labs, and prototyping.

Humanoid·for Universities, labs, prototyping

In the wild

See it move.

Real hardware, real environment, no edits. We tune the gait and balance for each platform; what you see is what we ship.

live · Unitree G1 demo

Stock-clipped · outdoor walk + studio gait work · 18s loop

In the field

More clips.

  • live · Indoor R&D

    Indoor R&D

    Studio walk + dance · 18s

  • live · Urban walk

    Urban walk

    Outdoor plaza · 14s

Specs

What it actually does.

Spec sheet

Height
≈ 1.32 m
Weight
≈ 35 kg (base)
Base DoF
23
Max DoF (EDU)
43
Battery life (real)
~2 hours active
Sensors
Intel RealSense depth, IMU, optional wrist cameras

Use cases

  • University research in humanoid control, manipulation, RL
  • Embodied-AI research and imitation learning
  • Dexterous manipulation R&D (with EDU hands)
  • Indoor prototyping of human-scale tasks

Honest callouts

  • · The G1 is INDOOR ONLY. No IP rating. Do not deploy outside — dust and moisture will damage it.
  • · Real-world battery is ~2 hours active. Marketing's 5–10 hours is standby only.
  • · The EDU configuration with 43 DoF and dexterous hands is what you want for manipulation research. The base 23-DoF model is for locomotion work.
  • · Wi-Fi and Bluetooth are ON by default. UniPwn (2025) affects this device — verify firmware and isolate the network before deployment.
g1_arm.py
python
# G1 — whole-body position control via SDK
from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.g1.g1_arm_action import G1ArmAction

ChannelFactoryInitialize(0, "eth0")
arm = G1ArmAction()

# Move right hand to a target pose
arm.startRayCasting()
arm.MoveL(p_target, r_target, duration=2.0)  # linear in Cartesian
# Compliance mode for contact tasks
arm.setFsmJoint()

Get one

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