Overview
Fourier, originally a rehabilitation-robotics company, unveiled GR-1 at WAIC in July 2023 as one of the first Chinese full-size humanoids offered for sale. GR-2 (September 2024) increased height and DoF and added 12-DoF tactile hands. Fourier still lists both on its GRx page (GR-2 brochure updated May 2025), though the GR-3 care-bot and N1 open platform are now its newer models.
- Type
- Biped robot · Full-size humanoids
- Maker
- Fourier (China)
- Released
- 2023
- Price
- Quote
- Status
- Available
- Best for
- Professionals & labs
- Programming
- Full SDK
Price and shipping
Never listed publicly. Sold by quote to universities, AI companies and industry partners
Shipping: Not available. Quote-based through Fourier. Ships from China. No US retail channel.
Specifications
| Category | Bipeds · Full-size humanoids |
|---|---|
| Released | 2023 |
| Country | China |
| Availability | Available |
| Sales | Over 100 GR-1 units delivered by October 2024 KrASIA ↗ |
| Programmability | Full SDK |
| Built-in autonomy | Task-level · Carries out multi-step jobs on its own, such as inspections, deliveries or chores |
| LLM support | Possible via SDK · Python SDK for research customers, no built-in LLM documented. |
| MuJoCo simulation | Official model · Fourier's Wiki-GRx-Mujoco (gr1 branch) runs trained GR-1 policies in MuJoCo. Wiki-GRx-Mujoco ↗ |
| NVIDIA Isaac simulation | Sim-to-real kit · Fourier's Wiki-GRx pipeline trains GRx walking in Isaac and deploys it. GR1T2 is also built into Isaac Lab. Wiki-GRx-Pipeline ↗ |
| Gazebo simulation | Official model · Fourier's Wiki-GRx-Gazebo runs Isaac-trained policies on GR1T1/T2 models in Gazebo. Wiki-GRx-Gazebo ↗ |
| Best for | Professionals & labs |
| Vision sensors | Camera, Depth camera |
| Actuators | Brushless / direct-drive motors |
| Audio | Unknown |
| Compute type | x86 PC (Intel / AMD) |
| Balance type | RL walking |
| Height | 165 cm (GR-1), 175 cm (GR-2) |
| Weight | 55 kg (GR-1), 63 kg (GR-2) |
| Compute | GR-2: 14-core Intel Core i7, optional 275 TOPS module |
| Speed | About 5 km/h (GR-1) |
| DOF | 40 (GR-1), 53 (GR-2) |
| Sensors | Stereo head camera, 6-axis IMU (GR-2 adds array-type tactile sensors in the hands) |
| Balance | RL locomotion trained in simulation (Fourier published sim-to-real work with NVIDIA Isaac). |
| SDK | Fourier SDK (Python) for research customers |
Common questions
How much does GR-1 / GR-2 cost?
Quote. Never listed publicly. Sold by quote to universities, AI companies and industry partners.
Can GR-1 / GR-2 be bought today?
Yes, it is on sale. Quote-based through Fourier. Ships from China. No US retail channel.
Who makes GR-1 / GR-2?
GR-1 / GR-2 is made by Fourier (China). It came out in 2023.
Can GR-1 / GR-2 be programmed?
Full SDK. Fourier SDK (Python) for research customers.
Does GR-1 / GR-2 have AI chat or LLM support?
Possible via SDK. Python SDK for research customers, no built-in LLM documented.
Ratings & reviews
Ratings and reviews load on the live site.
Related guides
- Robot Gaits and Gait Training · how legged robots walk, trot and gallop
- MuJoCo Guide · the simulator used to train walking robots
- ROS 2 Guide · the software framework many robots use
- Robot Vision and Depth Sensors · cameras, lidar and other distance sensors
Optimus (Gen 1 / Gen 2 / V3)
Figure 01 / Figure 02
Figure 03
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