G1 vs R1
Unitree Robotics G1 and Unitree Robotics R1 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 · R1 123 cm (9 cm apart)
- Weight: G1 35 kg · R1 29 kg (6 kg apart)
- Total degrees of freedom: G1 23 · R1 26 (3 apart)
| Item | G1 | R1 |
|---|---|---|
| Company | Unitree Robotics | Unitree Robotics |
| Stage | On sale | On sale |
| Height cm | 132 Official | 123 Official |
| Weight kg | 35 Official | 29 Official |
| Arm reach cm | — | 42 Official |
| Total degrees of freedom | 23 Official | 26 Official |
| Arm DoF (per arm) | 5 Official | 5 Official |
| Leg DoF (per leg) | 6 Official | 6 Official |
| Waist DoF | 1 Official | 2 Official |
| Head/neck DoF | — | 2 Official |
| Max joint torque N·m | 120 Official | — |
| Actuation | Electric Official | Electric Official |
| Top speed km/h | 7.2 Reported | — |
| Hand DoF (per hand) | 7 Official | — |
| Fingers | 3 Official | — |
| Payload kg | 2 Official | 2 Official |
| Tactile sensors | Optional tactile sensor array on the Dex3-1 hand available with EDU Official | — |
| Runtime h | 2 Official | 1 Official |
| Battery kWh | 0.43 Estimate | — |
| 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 | 8-core high-performance processor (EDU: optional 40–100 TOPS modules such as Orin) Official |
| Compute performance TOPS | — | 100 Official |
| Cameras | 1 Reported | 2 Official |
| Lidar | 3D LiDAR (Livox MID-360) Official | — |
| Sensors | Depth camera, 3D lidar, 4-microphone array, 5W speaker Official | Binocular cameras (monocular on AIR), 4-microphone array, speaker, dual encoders in the joints 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 | Multimodal large model for voice and images (model not disclosed) Official |
| SDK & dev tools | unitree_sdk2 (C++/Python/Rust), custom development supported on EDU Official | Custom development on the EDU model, open control interfaces for joints and sensors (unitree_sdk2) Official |
| Open resources | URDF (unitree_ros), SDK2, unitree_rl_gym/rl_lab, unitree_mujoco, UnifoLM models Official | URDF (R1 included in unitree_ros), unitree_sdk2 Official |
| Price | $13,500 Official | $5,900 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 | Units per model not disclosed. Company-wide humanoid shipments of 5,500+ in 2025 Reported |