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 Duke Humanoid v1 and XPeng IRON yet. Openness score: Duke Humanoid v1 85, XPeng IRON 0 (of 100); only Duke Humanoid v1 publishes CAD, BOM, SIM, SW and POL. Availability: Duke Humanoid v1 research only, XPeng IRON not for sale.
| Field | Duke University General Robotics LabDuke Humanoid v1 | XPengXPeng IRON | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Duke University General Robotics Lab | XPeng | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Research | Announced | |
| Availability (differs) | Research only | Not for sale | |
| Country (differs) | United States | China | |
| Year | 2024 | 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) | 85/ 100 | 0/ 100 | +85 |
| CAD (25) (differs) | public | not public | |
| Bill of materials (20) (differs) | public | not public | |
| Sim model (URDF/MJCF) (20) (differs) | public | not public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | public | not public | |
| Trained policies (10) (differs) | public | not public | |
| Verification level (differs) | L1 | L0 | |
| Sources (differs) | 4 | 2 | |
| Last checked (differs) | 2026-09-25 | 2026-09-24 | |
03
Best-documented pairs
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