Open-source hardware and software
The hardware design, embedded code and training and deployment frameworks are released as open source. [1][2]
Price & availability
University of California, Berkeley has not published a price
Prototype
Current dataset status: Prototype.
Product overview
About Berkeley Humanoid Lite
Berkeley Humanoid Lite is an open-source, 3D-printed research humanoid from UC Berkeley, with Koushil Sreenath among the authors. The team posted its paper on arXiv in April 2025 and presented it at Robotics: Science and Systems (RSS) 2025.
The robot has 22 degrees of freedom, is about 0.8 m tall and weighs about 16 kg. Its joints use self-contained brushless actuators with 3D-printed cycloidal gearboxes in two sizes. An Intel N95 mini PC handles low-level control, a locomotion policy runs onboard at 25 Hz, and a BNO085 IMU is fitted. A 6S 4000 mAh LiPo battery gives about 30 minutes of operation, and tethered power is also supported.
The authors open-source the hardware design, embedded code, and training and deployment frameworks, and they point builders to the project site. They put the total hardware cost under US$5,000 at US prices. The paper's bill of materials lists about US$4,312 in the US, which is a build-cost estimate rather than a sale price.
No official kit or pre-built unit was found in the sources reviewed, so there is no price or buy link. The status remains prototype because it is a research platform that users build themselves.
Capabilities
Key features
3D-printed cycloidal actuators
Self-contained actuators use 3D-printed cycloidal gearboxes in two sizes, built on brushless drone motors. [2]
Onboard locomotion policy
An Intel N95 mini PC runs the locomotion policy at 25 Hz, and the actuators communicate over CAN buses at 250 Hz. [2]
Zero-shot sim-to-real transfer
The authors report zero-shot transfer of simulation-trained locomotion policies to the hardware in their experiments. [1]
Build cost under US$5,000
The authors put total hardware cost under US$5,000 at US prices, with a bill of materials of about US$4,312. [2]
Hardware profile
Specifications
Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate
Body
Mobility
Power
Compute & Sensing
Show unknown fields (8)
Mobility
- Maximum speed
- Not published
- Peak joint torque
- Not published
Power
- Charge time
- Not published
- Swappable battery
- Not published
Hands & Manipulation
- DoF per hand
- Not published
- Payload
- Not published
- Hand / end effector
- Not published
Compute & Sensing
- AI stack
- Not published
Quick answers
Berkeley Humanoid Lite FAQ
Can you buy Berkeley Humanoid Lite?
No general order page is verified. Berkeley Humanoid Lite is currently classified as prototype. [1]
How tall is Berkeley Humanoid Lite and how much does it weigh?
Berkeley Humanoid Lite is 80 cm tall and weighs 16 kg (About 16 kg, per the paper). [2]
How long does the Berkeley Humanoid Lite battery last?
The stated runtime is 0.5 hours per charge; About 30 minutes on the onboard battery; tethered operation extends it. [2]
How many degrees of freedom does Berkeley Humanoid Lite have?
Berkeley Humanoid Lite has 22 listed degrees of freedom; UC Berkeley technical report comparison table lists 22 total degrees of freedom. [3]
Does Berkeley Humanoid Lite have an open SDK?
Yes. Berkeley Humanoid Lite is recorded as providing a public developer SDK or API. [1]
Who makes Berkeley Humanoid Lite?
Berkeley Humanoid Lite is made by University of California, Berkeley, 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]Berkeley Humanoid Lite project site ↗Berkeley Humanoid Lite project (UC Berkeley) · official · accessed Oct 8, 2026
- [2]Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot (arXiv:2504.17249) ↗arXiv (UC Berkeley authors) · paper · accessed Oct 8, 2026
- [3]UC Berkeley EECS technical report listing Berkeley Humanoid Lite specifications ↗UC Berkeley EECS · paper · accessed Oct 8, 2026