Facts

• Company: Unitree
• Product type: Humanoid
• Status: commercial
• Capability focus: Generalist
• Website: https://www.unitree.com/h1

Profile sections

• Summary
• Overview
• Market context
• Audience
• Workflow
• Capability
• Deployment environment
• Positioning tags
• Specifications
• Tags
• Timeline / Research
• Comparable Systems
• Sources

Summary

H1 is Unitree full-size humanoid robot platform with 3D LiDAR, depth sensing and high-torque joints for research and embodied-AI development.

Overview

H1 is Unitree full-size humanoid robot platform with 3D LiDAR, depth sensing and high-torque joints for research and embodied-AI development.

Market context

Full-size general-purpose humanoid with lidar and depth vision.

• Target environment: Research labs, university robotics programs and developer workshops.
• Workflow context: Locomotion research, bipedal control experimentation and embodied AI prototyping at full human scale.
• Customer context: Robotics researchers, AI labs and developers seeking a full-size research humanoid.
• Deployment model: Commercial product sold as a development platform rather than a workplace automation tool.
• Commercial maturity: Commercial product with broad developer adoption for research use.
• Adoption constraints: Primarily a research platform rather than a deployment-ready industrial system.
• Market position: Sits alongside G1 as Unitree's full-size research humanoid. Serves as a performance benchmark for bipedal locomotion and humanoid control research.
• Adjacent products: G1, AI Sapiens K0

Audience

Developers

Workflow

Locomotion research, bipedal control experimentation and embodied AI prototyping at full human scale.

Capability

generalist

Deployment environment

Research labs, university robotics programs and developer workshops.

Positioning tags

• Audience: Developers
• Workflow: Locomotion research, bipedal control experimentation and embodied AI prototyping at full human scale.
• Capability: generalist
• Deployment environment: Research labs, university robotics programs and developer workshops.

Specifications

• Height: About 180 cm for H1; about 178 cm for H1-2
• Weight: About 47 kg for H1; about 70 kg for H1-2
• Dof: 27 DoF on H1-2
• Leg Dof: 5 DoF per leg on H1; 6 DoF per leg on H1-2
• Arm Dof: 4 DoF per arm on H1, expandable; 7 DoF per arm on H1-2
• Speed: 3.3 m/s moving speed for H1; H1-2 moving speed under 2 m/s
• Battery Capacity: 15 Ah, 0.864 kWh, max voltage 67.2 V
• Charging: Quickly replaceable battery
• Sensors Summary: 3D LiDAR and depth camera
• Compute Model: Standard Intel Core i5 for platform functions and Intel Core i7 for user development; optional Intel Core i7 or Nvidia Jetson Orin NX
• Actuation: Low-inertia high-speed internal rotor PMSM joint motors
• Operational Environment: Complex terrains and environments

Tags

• Peer Group: Humanoid robot platform, Developer humanoid platform
• Capability: Bipedal locomotion
• Deployment Environment: Research lab
• Stack Layer: Finished robot platform
• Commercial Stage: Developer platform

Timeline / Research

• 2026-05-05 - Research Publication - Constraint-enhanced RL paper validates actuator-rate-aware control on Unitree H1 - The paper proposes dynamic decoupled spherical radial squashing to handle heterogeneous actuator-rat…
• 2026-04-11 - Capability - Unitree says H1 reached 10 m/s in new humanoid speed run - Unitree said its H1 humanoid reached 10 meters per second in a new speed test.
• 2026-03-09 - Research Publication - Humanoid recovery paper trains balance-aware stand-up policy on Unitree H1 - The paper embeds classical balance metrics such as capture point, center-of-mass state, and centroidal mom…
• 2026-02-03 - Research Publication - EAGLE distillation paper validates unified whole-body control on Unitree H1 - The EAGLE paper introduces embodiment-aware generalist-specialist distillation for unified humanoid whole…
• 2026-01-19 - Research Publication - FRoM-W1 language-conditioned whole-body control paper includes Unitree H1 - FRoM-W1 is an open-source framework for general humanoid whole-body motion control from natural-language in…
• 2025-11-25 - Research Publication - Supernumerary-limbs locomotion paper trains Unitree H1 humanoid gait - The paper proposes a hierarchical controller for humanoid locomotion with supernumerary limbs.
• 2025-10-09 - Research Publication - Humanoid Everyday dataset includes Unitree H1 demonstrations for open-world humanoid manipulation - The Humanoid Everyday repository describes a diverse dataset of Unitree G1 and H1 d…
• 2025-09-25 - Research Publication - RobotDancing paper validates long-horizon humanoid motion tracking on Unitree H1 - RobotDancing trains residual-action reinforcement-learning policies for robust long-horizon humanoid…
• 2025-09-23 - Research Publication - RoMoCo toolbox paper simulates reduced-order locomotion controllers on Unitree H1 - RoMoCo is an open-source C++ toolbox for reduced-order model-based planners and whole-body controll…
• 2025-05-19 - Research Publication - TD-GRPC locomotion paper trains diverse Unitree H1-2 humanoid behaviors - TD-GRPC combines temporal-difference learning with a group relative policy constraint for humanoid locomotion.
• 2025-04-19 - Research Publication - ALMI learns coordinated whole-body motion policies on Unitree H1 - ALMI separates lower-body locomotion and upper-body motion imitation into adversarially trained policies for coordin…
• 2025-04-13 - Research Publication - Humanoid-COA paper evaluates zero-shot loco-manipulation on Unitree H1-2 - Humanoid-COA combines multimodal foundation models with embodied chain-of-action reasoning for zero-shot hum…
• 2025-02-24 - Research Publication - Dynamic-balance RL paper validates narrow-terrain locomotion on Unitree H1-2 - The paper proposes a whole-body reinforcement-learning controller for narrow pathways, unexpected obstac…
• 2025-01-28 - Demonstration - Unitree H1 robots perform Yangko folk dance at 2025 Spring Festival Gala - Multiple Unitree H1 humanoid robots performed traditional Yangko folk dance at China's 2025 Spring Festival Gala.
• 2024-10-28 - Research Publication - HOVER unifies multiple whole-body control modes for humanoid robots - HOVER introduces a multi-mode policy distillation framework for navigation, loco-manipulation, and tabletop manip…
• 2024-08-21 - Product Launch - Unitree H1 humanoid robot launched for immediate purchase, disrupting robotics field - Third-generation humanoid platform, following earlier models, now available for immediate purchase.
• 2024-06-13 - Research Publication - OmniH2O enables whole-body teleoperation and autonomy on Unitree H1 - OmniH2O presents a learning-based system for whole-body humanoid teleoperation and autonomy using kinematic pose…
• 2024-03-21 - Demonstration - Unitree Robotics showcases H1 humanoid robot performing full-size flips - Demonstrates full-size humanoid capabilities with in-place flipping using deep reinforcement learning.
• 2024-03-20 - Demonstration - Unitree H1 Becomes First Full-Sized Humanoid Robot to Perform Backflip - • Unitree Robotics' H1 humanoid robot successfully performed a standing backflip, marking the first time a full-sized…
• 2024-03-07 - Research Publication - External H2O paper demonstrates real-time whole-body teleoperation on Unitree H1 - The H2O paper introduces an RL-based framework for real-time whole-body humanoid teleoperation using…
• 2024-03-01 - Demonstration - Unitree H1 Sets Humanoid Robot Speed Record - • Unitree Robotics' H1 humanoid robot achieved a top speed of 3.3 meters per second (7.4 miles per hour), setting a new world record for full-si…
• 2023-08-21 - Product Launch - Unitree Robotics Introduces H1 Humanoid Robot at World Robot Conference 2023 - • Unitree Robotics unveiled its first general-purpose humanoid robot, the H1, at the World Robot Conference 20…

Comparable Systems

• LimX Oli - LimX Dynamics - Humanoid Platform
• H2 - Unitree - Humanoid
• G1 - Unitree - Humanoid
• AI Sapiens K0 - ROBOTIS - Humanoid
• Atom 01 - General Autonomy - Humanoid
• N2 - Noetix Robotics (松延动力) - Humanoid
• MagicBot Z1 - MagicLab - Anthropomorphic Biped
• E1 - Noetix Robotics (松延动力) - Humanoid