Agility Timeline

Events

• 2026-07-17 - Facility Opening - Agility opens Fremont Physical AI facility - The Fremont site will train, test and advance AI technologies that help Digit learn new skills for customer environments. Agility said the 60,000-square-foot facility complements RoboFab manufacturing operations in Salem, Oregon. The company plans to hire… - source: agilityrobotics.com
• 2026-06-24 - Acquisition - Agility Robotics announces SPAC merger with Churchill Capital Corp XI - The transaction values Agility Robotics at about $2.5 billion and is expected to list the combined company under ticker AGLT. Expected gross proceeds exceed $600 million, including $420 million from Churchill XI trust cash and more than $200 million of PIPE… - source: wsj.com
• 2026-06-22 - Product Launch - NVIDIA announces Halos for Robotics safety system for physical AI - Halos for Robotics extends NVIDIA Halos from autonomous-vehicle safety into robotics and physical AI. The stack spans NVIDIA IGX Thor, Holoscan Sensor Bridge, Halos OS, Halos Core, the Outside-In Safety Blueprint and the Halos AI Systems Inspection Lab.… - source: nvidianews.nvidia.com
• 2026-03-05 - Market Signal - Agility Robotics rebrands to Agility - • Agility Robotics announced its rebrand to Agility on March 5, 2026. • The company conducted an extensive brand audit and creative development process. • This initiative involved input from founders, engineers, and operators deploying its humanoid robots in… - source: uk.finance.yahoo.com
• 2026-02-19 - Partnership - Agility Robotics signs commercial deployment agreement with Toyota Motor Manufacturing Canada for Digit - Toyota Motor Manufacturing Canada signed a Robots-as-a-Service (RaaS) agreement with Agility Robotics following a successful pilot of Digit in production environments. The deployment will integrate Digit humanoid robots into manufacturing workflows… - source: agilityrobotics.com
• 2026-02-14 - Demonstration - Agility demonstrates Digit's advanced material handling capabilities - Digit uses two grippers to handle heavy cinder blocks with precision and smoothness. The robot's design allows it to perform various tasks, reducing worker burden in factories. US robotics company focused on humanoid systems for logistics and warehouse… - source: agilityrobotics.com
• 2025-12-10 - Partnership - Mercado Libre and Agility Robotics announce commercial agreement to deploy Digit humanoid robots - Mercado Libre signed a commercial agreement with Agility Robotics to deploy Digit humanoid robots in fulfillment operations, beginning at a facility in San Antonio, Texas. The partnership will evaluate broader use across Latin American warehouses, targeting… - source: agilityrobotics.com
• 2025-12-10 - Deployment - Mercado Libre signs Digit humanoid deployment agreement - The first deployment is planned for Mercado Libre facility operations in San Antonio, Texas. The companies plan to explore further AI-powered humanoid use cases across Latin American warehouses. Digit will focus initially on tasks that support commerce… - source: agilityrobotics.com
• 2025-11-24 - Regulatory - Agility Robotics' Digit Passes OSHA-Recognized NRTL Safety Inspection - Digit received OSHA-recognized Nationally Recognized Test Lab (NRTL) approval at a customer’s commercial production line. The inspection evaluated Digit against safety standards including ANSI B11.0, ISO 12100, ISO 13849, ANSI B11.19, ISO 10218, and ANSI/RIA… - source: agilityrobotics.com
• 2025-11-06 - Research Publication - Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning - The study presents Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Digit is used in the study's data-collection or experimental dataset workflow. - source: arxiv.org
• 2025-09-15 - Funding - Agility Robotics raises $792K funding round - Agility Robotics: Investor Insights Agility Robotics sets itself apart through a focus on safe, practical, and scalable humanoid robotics Revenue model Agility Robotics generates revenue through multiple channels, combining hardware sales, leasing… - source: acquinox.capital
• 2025-09-10 - Funding - Agility Robotics confirms NVentures participation in Series C - Agility announced NVentures' participation in the Series C on September 10, 2025. Humanoid Global closed an indirect strategic investment through a single-asset special-purpose vehicle. A later SEC-filed Agility investor presentation reported more than $390… - source: webfiles.thecse.com
• 2025-08-16 - Research Publication - No More Marching: Learning Humanoid Locomotion for Short-Range SE(2) Targets - Humanoids operating in real-world workspaces must frequently execute task-driven, short-range movements to SE(2) target poses. To be practical, these transitions must be fast, robust, and energy efficient. Digit is the evaluation platform used to test the… - source: arxiv.org
• 2025-06-02 - Research Publication - Dynamic subgoal pursuit paper validates humanoid navigation using Digit simulation - The paper proposes a hierarchical navigation framework combining a reinforcement-learning subgoal planner with MPC-based bipedal walking. The authors validate the method in simulation using the Agility Robotics Digit humanoid across random-obstacle… - source: arxiv.org
• 2025-05-19 - Partnership - NVIDIA powers humanoid robot industry with Isaac GR00T platform adopted by Agility, Boston Dynamics, Fourier and others - NVIDIA released Isaac GR00T N foundation models enabling humanoid robots to perform complex manipulation tasks via natural language commands. Agility Robotics, Boston Dynamics, Fourier, Galbot, Mentee Robotics, NEURA Robotics, General Robotics, Skild AI, and… - source: investor.nvidia.com
• 2025-04-14 - Research Publication - PPF paper improves Digit locomotion with model-assumption-based regularization - PPF combines controller imitation, reinforcement-learning fine-tuning, and model-assumption-based regularization for humanoid locomotion. The paper reports hardware experiments on full-size Digit, including 1.5 m/s walking and robust locomotion on slippery… - source: arxiv.org
• 2024-11-20 - Partnership - Schaeffler and Agility Robotics announce strategic investment and agreement with motion technology company - Schaeffler made a minority investment in Agility Robotics and plans to purchase humanoid robots for its global plant network. Agility Robotics announced the first commercial deployment of humanoid robots with GXO, marking the industry's first… - source: agilityrobotics.com
• 2024-10-16 - Partnership - Tompkins Solutions partners with Agility Robotics on warehouse automation - Tompkins Solutions announced a strategic partnership with Agility Robotics to integrate Digit into warehouse automation service offerings Tompkins will offer customized integration services to implement Digit alongside existing warehouse automation systems… - source: tompkinsinc.com
• 2024-10-04 - Research Publication - Challenging-terrain locomotion paper trains Digit for real-world outdoor walking - The paper presents a transformer-based learning approach for blind humanoid locomotion over rough, deformable, and sloped terrain. The authors evaluate the controller on a real Digit humanoid, including hiking trails in Berkeley and steep streets in San… - source: arxiv.org
• 2024-10-03 - Deployment - Digit deployed at GXO under long-term commercial humanoid RaaS agreement - Agility states Digit's deployment into a long-term, commercially significant role marks the first realization of this vision by a humanoid robot. This is positioned explicitly as a real-world, commercially significant deployment (not a demo). - source: agilityrobotics.com
• 2024-09-01 - Partnership - Agility Robotics partners with Ricoh USA to support deployment and service of Digit robots - Agility Robotics partnered with Ricoh USA to provide deployment, service, and support infrastructure for Digit humanoid robots. The collaboration is aimed at scaling customer adoption by strengthening operational and maintenance capabilities. US robotics… - source: ricoh-usa.com
• 2024-08-16 - Research Publication - Digit system-identification paper improves constrained-robot model tracking - The paper introduces an iterative least-squares system-identification approach for constrained robots such as legged humanoids. The approach is validated in simulation and on real Agility Robotics Digit hardware, identifying motor inertia and joint-friction… - source: arxiv.org
• 2024-06-27 - Partnership - GXO signs multi-year commercial deployment agreement with Agility Robotics - GXO signed a multi-year agreement with Agility Robotics after a 2023 pilot, described as a first formal commercial deployment and RaaS deployment of humanoid robots Under the RaaS agreement, GXO deploys Digit robots and the Agility Arc cloud platform to… - source: globenewswire.com
• 2024-06-27 - Deployment - Agility Robotics' Digit moves over 10,000 orders at SPANX facility - Digit has moved over 10,000 orders at the SPANX facility, indicating successful deployment at scale. Signals a significant operational partnership between Agility Robotics and GXO Logistics. Demonstrates effective integration of robotics in logistics… - source: agilityrobotics.com
• 2024-06-25 - Research Publication - Multi-biped payload-transport paper demonstrates coordinated Cassie teams - The paper trains a decentralized controller for payload transport using multiple rigidly attached biped robots. The authors demonstrate real-world transport systems composed of two and three Cassie robots. It adds a distinctive Cassie research result around… - source: arxiv.org
• 2024-04-09 - Award - Agility Robotics' Digit Wins Robot of the Year Award - • Agility Robotics' humanoid robot, Digit, was awarded the inaugural Robot of the Year by the RBR50 Robotics Innovation Awards. • Digit demonstrated its ability to pick up totes from a shelf, walk to a conveyor, and place the totes onto it. • Later in 2023… - source: therobotreport.com
• 2024-04-04 - Partnership - Agility Robotics partners with Manhattan Associates - • Agility Robotics partnered with Manhattan Associates to integrate its Digit robot and Agility Arc platform with Manhattan's Active Warehouse Management solution. • Agility joined the Manhattan Value Partner program and the Manhattan Automation Network. •… - source: agilityrobotics.com
• 2024-03-25 - Research Publication - Digit social-navigation paper combines MPC with zonotope neural networks - The paper proposes cascaded zonotope-based neural networks for pedestrian prediction and bipedal social path planning. The learned social planner is integrated with MPC footstep planning for Agility Robotics Digit in simulation. The work gives Digit a… - source: arxiv.org
• 2024-02-29 - Research Publication - Next-token prediction paper demonstrates real-world humanoid locomotion on Digit - The paper casts humanoid locomotion as next-token prediction over sensorimotor trajectories using a causal transformer. The authors use Agility Robotics Digit as the physical humanoid platform and report zero-shot real-world walking in San Francisco. - source: arxiv.org
• 2024-01-30 - Research Publication - IJRR study demonstrates broad dynamic locomotion skills on Cassie - The IJRR study presents a reinforcement-learning controller for standing, walking, running, jumping, and other dynamic bipedal skills. The resulting policies deploy on Cassie in extensive real-world experiments, including a 400-meter dash and multiple… - source: arxiv.org
• 2023-10-26 - Demonstration - Amazon testing Digit for tote consolidation in warehouses - Amazon is testing Digit for tote consolidation (organizing and repositioning storage containers after inventory is removed). Digit senses, grasps, and moves totes while navigating a human-designed warehouse environment. US robotics company focused on… - source: geekwire.com
• 2023-10-24 - Demonstration - Agility Robotics expands relationship with Amazon; Digit to be tested at Amazon's robotics R&D facility near Seattle - Digit will be tested at Amazon's robotics research & development facility just south of Seattle. Agility notes this expands the relationship; Agility is already part of the Amazon Industrial Innovation Fund. US robotics company focused on humanoid systems… - source: agilityrobotics.com
• 2023-10-12 - Research Publication - Safe whole-body task-space control paper validates hardware experiments on Digit - The paper proposes inverse-dynamics whole-body control with exponential control barrier functions for safety-critical humanoid behaviors. The authors apply the method to the 3D biped robot Digit in both simulation and hardware experiments. It adds a concrete… - source: arxiv.org
• 2023-09-18 - Production Milestone - Agility Robotics opens RoboFab, the first factory dedicated to humanoid robot production - Agility Robotics announced RoboFab, a purpose-built manufacturing facility for humanoid robots with planned capacity of up to 10,000 units per year. The facility is designed to support scaled production of Digit and marks a shift toward industrialised… - source: agilityrobotics.com
• 2023-09-14 - Research Publication - Cassie constrained-foothold paper demonstrates MPC footstep control - The paper introduces a mixed-integer model-predictive footstep controller for bipedal walking over constrained footholds. Hardware experiments on Cassie use real-time elevation mapping and convex terrain decomposition to select steppable terrain. The work… - source: arxiv.org
• 2023-04-27 - Research Publication - OP3 paper demonstrates global-position tracking for multi-domain bipedal walking - The paper introduces a stabilizing global-position tracking controller for hybrid multi-domain bipedal walking. Simulations on ROBOTIS OP3 cover multi-domain walking with different actuation regimes, walking speeds, and desired paths. The work gives OP3-W a… - source: arxiv.org
• 2023-03-20 - Product Launch - Agility Robotics unveils updated Digit humanoid robot for logistics applications - Agility Robotics introduced an updated version of Digit designed for warehouse environments, featuring improved mobility and handling capabilities. The update reflects a shift toward commercial deployment readiness in logistics workflows. US robotics company… - source: agilityrobotics.com
• 2023-02-19 - Research Publication - RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware - The RSS paper trains a reinforcement-learning controller for robust bipedal jumping across different distances and directions. After multi-stage training, the policy transfers directly to real Cassie hardware for standing long jumps, elevated-platform jumps… - source: arxiv.org
• 2023-01-01 - Production Milestone - Agility Robotics builds Digit robots to address labor shortages in Salem - Production capacity set to scale to 10,000 humanoid robots annually. Deployment of Digit robots in warehouses addresses over 1 million unfilled material handling positions. Partnerships with companies like GXO and Schaeffler signal expansion into diverse… - source: techcrunch.com
• 2022-09-27 - Demonstration - Agility Robotics sets world record with Cassie's learned policy - This achievement highlights advancements in robotic learning and performance capabilities. Cassie's record-setting moment showcases the potential for robotics in competitive environments. US robotics company focused on humanoid systems for logistics and… - source: spectrum.ieee.org
• 2022-04-22 - Funding - Agility Robotics raises $150M Series B led by DCVC and Playground Global - DCVC and Playground Global co-led the Series B; Amazon Industrial Innovation Fund joined as a new investor. Existing investors MFV Partners, ITIC, Robotics Hub, Safar Partners, Sony Innovation Fund and TDK Ventures also participated. Agility said the… - source: agilityrobotics.com
• 2021-09-30 - Research Publication - Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion - The paper combines an Angular Momentum Linear Inverted Pendulum model with MPC foot placement and virtual constraints for terrain-adaptive walking. Experiments validate Cassie locomotion across surfaces with varied inclinations and textures while accounting… - source: arxiv.org
• 2021-07-25 - Demonstration - Cassie the bipedal robot completes 5K run - • Cassie, a bipedal robot developed at Oregon State University and produced by Agility Robotics, completed a 5-kilometer run in just over 53 minutes. • The run took place on Oregon State's campus, with Cassie operating untethered and on a single battery… - source: news.oregonstate.edu
• 2021-03-29 - Research Publication - Digit paper learns robust bipedal walking with reinforcement learning - The paper presents robust feedback motion policy design for Agility Robotics Digit using reinforcement learning. The controller transfers from simulation to physical Digit hardware and realizes sustained walking under disturbances and challenging terrain.… - source: arxiv.org
• 2021-03-26 - Research Publication - Parameterized locomotion RL paper transfers robust walking policies to Cassie - The paper trains robust locomotion policies in simulation using domain randomization and transfers them to the physical Cassie robot. The learned policies support dynamic behaviors such as velocity tracking, walking-height variation, and yaw turning. It adds… - source: arxiv.org
• 2020-11-02 - Research Publication - Cassie sim-to-real paper learns all common bipedal gaits - The paper proposes periodic reward composition for standing, walking, hopping, running, and skipping without requiring reference motions. The authors demonstrate sim-to-real transfer of learned gaits to Cassie and a generic policy that transitions between… - source: arxiv.org
• 2020-10-15 - Funding - Agility Robotics raises $20M funding round - Agility Robotics closed a $20 million investment round to build and deploy the Digit humanoid robot for work in human environments DCVC and Playground Global co-led the round, joined by TDK Ventures, MFV Partners, ITIC, Sony Innovation Fund, and Safar… - source: onami.us
• 2020-07-10 - Deployment - Agility Robotics announces Ford as commercial launch customer - Ford becomes the first commercial launch customer, indicating a shift to real-world applications. Deployment achieved within 30 minutes of unboxing, showcasing operational efficiency. Signals potential for rapid integration of robotics in logistics and… - source: venturebeat.com
• 2020-01-06 - Product Launch - Agility Robotics begins selling Digit humanoid robot for commercial use - Agility Robotics said it is selling Digit humanoid robots for commercial use, with pricing in the low-to-mid six figures. Ford bought the first two robots to explore last-mile package delivery with autonomous vehicles. Agility said initial production in 2020… - source: therobotreport.com
• 2020-01-06 - Regulatory - Digit v3's battery receives UN 38.3 certification - • Agility Robotics launched the commercial version of its humanoid robot, Digit, in January 2020. • The robot features a UN 38.3 certified battery, allowing for cargo air shipment. • Digit's upper torso includes integrated sensing, computing, and two 4-DOF… - source: therobotreport.com
• 2019-10-14 - Demonstration - Agility Robotics demonstrates Digit v2's shared autonomy capabilities - The demo showcases Digit v2's ability to autonomously pick and place objects while navigating under local teleoperation. A video of the real-time demonstration highlights the advanced footstep placement technology. US robotics company focused on humanoid… - source: x.com
• 2019-07-26 - Research Publication - Cassie Hovershoes paper demonstrates multimodal bipedal riding control - The paper develops feedback control for Cassie to autonomously ride a pair of Hovershoes while balancing and regulating forward and rotational velocity. Experiments include flat terrain, slopes, stairs, rough outdoor terrain, and autonomous obstacle-course… - source: arxiv.org
• 2019-05-22 - Partnership - Agility Robotics partners with Ford to develop last-mile delivery solutions - Agility Robotics and Ford partnered to pair autonomous vehicles with legged robots for last-mile delivery workflows. The work centered on moving packages from a vehicle to a doorstep, where wheeled delivery systems can struggle with stairs, curbs and uneven… - source: media.ford.com
• 2019-02-19 - Product Launch - Agility Robotics' Digit robot available for pre-order, deliveries start Q1 2020 - • Agility Robotics unveiled Digit, a bipedal robot with arms, sensors, and computing power, on February 19, 2019. • The company announced that pricing would be revealed mid-year, with deliveries beginning in Q1 2020. • Digit can pick up and stack boxes… - source: agilityrobotics.com
• 2018-09-28 - Research Publication - Deep-RL policy-transfer paper reports hardware results on ATRIAS - The paper studies whether deep reinforcement-learning policies can transfer from simulation to hardware when embedded inside a structured walking controller. Experiments on ATRIAS examine action spaces, cost functions, and the rate of transfer from… - source: arxiv.org
• 2018-09-19 - Research Publication - Cassie feedback-control paper demonstrates walking, standing, and Segway riding - The paper implements virtual-constraint and gait-library feedback control on Agility Robotics Cassie. The controller enabled standing and walking across sidewalks, grass, snow, sand, and burning brush, plus a Segway-riding demonstration. The work gives… - source: arxiv.org
• 2017-09-18 - Research Publication - Bayesian-optimization study tunes walking controllers on ATRIAS hardware - The paper applies Bayesian optimization with a domain-informed feature transform to bipedal locomotion controller tuning. The method is evaluated on the ATRIAS biped in simulation and on hardware, including two walking controllers on the real robot. It gives… - source: arxiv.org
• 2017-09-05 - Market Signal - Agility Robotics delivers Cassie 001 to University of Michigan - • Agility Robotics delivered the first Cassie bipedal robot, serial number 001, to the University of Michigan on September 5, 2017. • The university named the robot 'Cassie Blue' and began testing it on various terrains, including sidewalks, grass, snow… - source: news.engin.umich.edu
• 2017-08-31 - Market Signal - Agility Robotics completes first Cassie robot deliveries - • Agility Robotics delivered its first batch of Cassie robots to the University of Michigan, Caltech, and Harvard at the end of August and beginning of September 2017. • Each team began developing its own control laws for the robots upon receipt. • The… - source: par.nsf.gov
• 2015-01-01 - Org Change - Agility Robotics founded as spinout from Oregon State University - Agility Robotics was founded as a spinout from Oregon State University, building on research in dynamic legged locomotion. The company initially focused on Cassie, a bipedal research robot, before developing the commercial Digit platform. - source: agilityrobotics.com