G1 vs H2
Unitree Robotics G1 and Unitree Robotics H2 compared on the same basis. Each value shows how sure we are of it, so a reported figure is not read as an official one.
- Height: G1 132 cm · H2 182 cm (50 cm apart)
- Weight: G1 35 kg · H2 70 kg (35 kg apart)
- Total degrees of freedom: G1 23 · H2 31 (8 apart)
- Payload: G1 2 kg · H2 15 kg (13 kg apart)
| Item | G1 | H2 |
|---|---|---|
| Company | Unitree Robotics | Unitree Robotics |
| Stage | On sale | On sale |
| Height cm | 132 Official | 182 Official |
| Weight kg | 35 Official | 70 Official |
| Arm reach cm | — | 69 Official |
| Total degrees of freedom | 23 Official | 31 Official |
| Arm DoF (per arm) | 5 Official | 7 Official |
| Leg DoF (per leg) | 6 Official | 6 Official |
| Waist DoF | 1 Official | 3 Official |
| Head/neck DoF | — | 2 Official |
| Max joint torque N·m | 120 Official | 360 Official |
| Actuation | Electric Official | Electric Official |
| Walking speed km/h | — | 5 Reported |
| Top speed km/h | 7.2 Reported | 11 Reported |
| Hand DoF (per hand) | 7 Official | — |
| Fingers | 3 Official | — |
| Payload kg | 2 Official | 15 Official |
| Tactile sensors | Optional tactile sensor array on the Dex3-1 hand available with EDU Official | — |
| Runtime h | 2 Official | 3 Official |
| Battery kWh | 0.43 Estimate | 0.97 Official |
| Battery swap | Swappable (quick-release smart battery) Official | Swappable (quick-release smart battery) Official |
| Compute unit | 8-core high-performance CPU (EDU: optional high-performance compute module such as Jetson Orin) Official | Intel Core i5 (EDU: Intel Core i7 development PC + optional high-performance modules such as Jetson Thor) Official |
| Cameras | 1 Reported | — |
| Lidar | 3D LiDAR (Livox MID-360) Official | — |
| Sensors | Depth camera, 3D lidar, 4-microphone array, 5W speaker Official | Wide-view binocular cameras, microphone array, speaker Official |
| AI model | UnifoLM (Unitree unified robot large model) — open-source UnifoLM-WMA-0 (world model-action, 2025-09), UnifoLM-VLA-0 (VLA model based on Qwen2.5-VL, 2026-01, trained on G1 manipulation data and released) Official | Official model name not disclosed — 'supports various intelligent models', OTA updates for motion control algorithms Official |
| SDK & dev tools | unitree_sdk2 (C++/Python/Rust), custom development supported on EDU Official | Custom development supported on the EDU model (unitree_sdk2) Official |
| Open resources | URDF (unitree_ros), SDK2, unitree_rl_gym/rl_lab, unitree_mujoco, UnifoLM models Official | URDF (H2 included in unitree_ros), unitree_sdk2 Official |
| Price | $13,500 Official | $29,900 Official |
| Production & shipments | Unitree shipped 5,500+ humanoids in 2025 (excluding wheeled, whole company), 5,632 cumulatively in 2023–2025. 410 humanoids sold in G1's first year on sale (2024) Reported | Phased deliveries from Q3 2026, according to resellers Reported |