Real-time human shadowing
A policy trained in simulation lets the robot follow human body and hand motion in real time using pose estimates from an external RGB camera. [1][2]
Price & availability
Stanford University has not published a price
Prototype
Current dataset status: Prototype.
Product overview
About Stanford HumanPlus
HumanPlus is a research humanoid system from Stanford University, presented in the paper 'HumanPlus: Humanoid Shadowing and Imitation from Humans' and at CoRL 2024. The authors are Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein and Chelsea Finn. Its 180 cm, 33-DoF hardware is built on a Unitree H1 and fitted with Inspire Robots RH56DFX hands and custom wrists; it is not a commercial product.
The system has two parts. A shadowing policy, trained in simulation with reinforcement learning on existing human motion data, lets the robot follow a person's body and hand motion in real time using pose estimates from an external RGB camera. Teleoperated shadowing then collects whole-body data, which is used to train skill policies from the robot's two head-mounted RGB cameras by behavior cloning.
The paper reports autonomous tasks with 60 to 100 percent success after up to 40 demonstrations, including putting on a shoe, unloading warehouse racks and folding a sweatshirt. The authors released the HST and HIT code publicly, with hardware software based on unitree_ros2.
Capabilities
Key features
Learning from teleoperated data
Teleoperated shadowing gathers whole-body data, which is then used to train egocentric-vision skill policies by behavior cloning. [2]
Autonomous task results
The paper reports 60 to 100 percent success on autonomous tasks learned from up to 40 demonstrations. [2]
Public code repository
The HST and HIT implementations are on GitHub, and the hardware codebase is based on unitree_ros2. [3]
Hardware profile
Specifications
Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate
Body
Mobility
- Peak joint torque
- 360 N·mOfficial — stated by the manufacturer or organizer[2]Instant torque of the leg motors, as stated in the paper
Hands & Manipulation
- DoF per hand
- 6Official — stated by the manufacturer or organizer[2]Per Inspire Robots RH56DFX hand on the customized HumanPlus platform
- Payload
- 7.5 kgOfficial — stated by the manufacturer or organizer[2]The paper says the arms can hold items up to 7.5 kg; it does not specify whether this is per arm or combined
- Hand / end effector
- Two Inspire Robots RH56DFX six-DoF dexterous hands on customized wristsOfficial — stated by the manufacturer or organizer[2]
Compute & Sensing
- Sensors
- Two head-mounted Razer Kiyo Pro RGB webcamsOfficial — stated by the manufacturer or organizer[2]The external RGB camera used to capture the human operator for shadowing is not an onboard robot sensor
Show unknown fields (8)
Body
- Weight
- Not published
Mobility
- Maximum speed
- Not published
- Actuation
- Not published
Power
- Battery
- Not published
- Runtime
- Not published
- Charge time
- Not published
- Swappable battery
- Not published
Compute & Sensing
- Onboard compute
- Not published
Quick answers
Stanford HumanPlus FAQ
Can you buy Stanford HumanPlus?
No general order page is verified. Stanford HumanPlus is currently classified as prototype. [1]
How much can Stanford HumanPlus carry?
The listed payload is 7.5 kg; The paper says the arms can hold items up to 7.5 kg; it does not specify whether this is per arm or combined. [2]
How many degrees of freedom does Stanford HumanPlus have?
Stanford HumanPlus has 33 listed degrees of freedom; Two 6-DoF hands, two 1-DoF wrists, and a 19-DoF body. [1][2]
Who makes Stanford HumanPlus?
Stanford HumanPlus is made by Stanford University, based in United States. [1]
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Evaluation footprint
Benchmarks & competitions
No benchmark embodiments or results reference this robot yet.
Related
Similar robots
Evidence
Sources
- [1]HumanPlus: Humanoid Shadowing and Imitation from Humans (project page) ↗Stanford HumanPlus project · official · accessed Oct 8, 2026
- [2]HumanPlus: Humanoid Shadowing and Imitation from Humans ↗arXiv · paper · accessed Oct 8, 2026
- [3]humanplus (GitHub repository) ↗GitHub (project authors) · official · accessed Oct 8, 2026