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 humanoidsNo height, mass, DOF or payload figure is sourced for both Cassie and XPeng IRON yet. Openness score: Cassie 20, XPeng IRON 0 (of 100); only Cassie publishes SIM. Availability: Cassie research only, XPeng IRON not for sale.
| Field | Agility RoboticsAgility Cassie | XPengXPeng IRON | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | XPeng | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Discontinued | Announced | |
| Availability (differs) | Research only | Not for sale | |
| Country (differs) | United States | China | |
| Year (differs) | 2017 | 2024 | |
| Specifications | |||
| Height | —unsourced | 178cm | |
| Mass | —unsourced | 70kg | |
| Degrees of freedom | 10 | —unsourced | |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | —unsourced | |
| Compute | —unsourced | 3x XPeng Turing AI chips, 2,250 TOPS | |
| Sensors | —unsourced | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 0/ 100 | +20 |
| CAD (25) | not public | not public | |
| Bill of materials (20) | not public | not public | |
| Sim model (URDF/MJCF) (20) (differs) | public | not public | |
| Firmware (15) | not public | not public | |
| Software (10) | not public | not public | |
| Trained policies (10) | not public | not public | |
| Verification level (differs) | L2 | L0 | |
| Sources (differs) | 3 | 2 | |
| Last checked | 2026-09-24 | 2026-09-24 | |
03
Best-documented pairs
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