Compare humanoids
Pick two to four robots. Every pair also has its own permanent page, 1,326 in total, generated from the same records.
01
Pick robots
52 humanoidsCassie has 13 fewer degrees of freedom (10 vs 23) than Unitree G1. Unitree G1 lists at $13,500; Cassie is not for sale. Openness score: Cassie 20, Unitree G1 40 (of 100); only Unitree G1 publishes SW and POL. Availability: Cassie research only, Unitree G1 buy.
| Field | Agility RoboticsAgility Cassie | Unitree RoboticsUnitree G1 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | Unitree Robotics | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Discontinued | Active | |
| Availability (differs) | Research only | Buy | |
| Country (differs) | United States | China | |
| Year (differs) | 2017 | 2024 | |
| Specifications | |||
| Height | —unsourced | 132cm | |
| Mass | —unsourced | 35kg | |
| Degrees of freedom (differs) | 10 | 23 | −13 (-57%) |
| Payload | —unsourced | 2kg | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | 120min | |
| Battery capacity | —unsourced | —unsourced | |
| Price (differs) | Not for sale | 13,500USD | |
| Actuators | —unsourced | Unitree in-house electric joint motors | |
| Compute | —unsourced | 8-core CPU; optional Jetson Orin module (EDU) | |
| Sensors | —unsourced | Depth camera, 3D LiDAR, 4-mic array | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 40/ 100 | −20 |
| CAD (25) | not public | not public | |
| Bill of materials (20) | not public | not public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | not public | public | |
| Trained policies (10) (differs) | not public | public | |
| Verification level | L2 | L2 | |
| Sources (differs) | 3 | 2 | |
| Last checked | 2026-09-24 | 2026-09-24 | |
03
Best-documented pairs
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