UC Berkeley Berkeley Humanoid Lite price & specs

UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (1)

UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (2)

UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (3)

~$4,300 DIY BOM

AvailableRL walkingNot smallDIY actuatorsIsaac Lab + MuJoCoNo kit

Weeks+Shipping: 4–8 wks DIY (est.).

LEARN MORE (Project) ↗

Overview

Kid-sized and heavy enough to hurt itself, or its owner, when it falls. The interesting part is the printable cycloidal actuator, which is reusable elsewhere. Pick it only to learn actuator building and have $4k+ and a printer farm.

Type: Biped robot · Open-source RL bipeds
Maker: UC Berkeley Hybrid Robotics
Released: 2025
Price: ~$4,300 DIY BOM
Status: Available
Best for: Professionals & labs
Programming: Open source (hardware + software)

Price and shipping

no kit or built unit sold. $3,236 with China-sourced parts

Shipping: 4–8 wks DIY (est.). No kit sold. BLDC motors, ESCs and bearings mostly from China (~2–3 weeks), then heavy printing and building 22 actuators. Docs ↗

Specifications

Category	Bipeds · Open-source RL bipeds
Released	2025
Country	USA
Availability	Available
DIY build plans	Berkeley Humanoid Lite · parts under $5,000 (estimate) · difficulty 4/5
Programmability	Open source (hardware + software)
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
LLM support	Possible via SDK · Open-source Isaac Lab and MuJoCo code, no LLM features.
MuJoCo simulation	Official model · Official MJCF and MuJoCo sim2sim script. Training is in Isaac Lab. Berkeley-Humanoid-Lite ↗
NVIDIA Isaac simulation	Sim-to-real kit · Official Isaac Lab tasks with real-robot deployment code. Berkeley-Humanoid-Lite ↗
Gazebo simulation	Maker URDF only · Official URDF in the assets repo, no Gazebo package. berkeley-humanoid-lite-assets ↗
Best for	Professionals & labs
Vision sensors	No vision sensors
Actuators	Brushless / direct-drive motors
Audio	No audio
Compute type	x86 PC (Intel / AMD)
Balance type	RL walking
Height	80 cm
Weight	16 kg
Compute	Intel N95 mini PC
Speed	Not published (~0.5 m/s est.)
DOF	22 BLDC with 3D-printed cycloidal gearboxes (CAN, 250 Hz)
Sensors	BNO085 IMU
Balance	RL locomotion trained in Isaac Lab with MuJoCo sim-to-sim checks, zero-shot transfer. Push recovery not documented.
SDK	Berkeley-Humanoid-Lite repo (Isaac Lab tasks, MuJoCo sim2sim, CAN firmware), GitBook docs

Common questions

How much does Berkeley Humanoid Lite cost?

Berkeley Humanoid Lite is listed at ~$4,300 DIY BOM. no kit or built unit sold. $3,236 with China-sourced parts.

Can Berkeley Humanoid Lite be bought today?

Yes, it is on sale. Typical shipping time is 4–8 wks DIY (est.). No kit sold. BLDC motors, ESCs and bearings mostly from China (~2–3 weeks), then heavy printing and building 22 actuators.