UC Berkeley Humanoid Lite vs Duke Humanoid v1
Generated from the registry · revision 2026-09-26 · openness out of 100
Berkeley Humanoid Lite has 12 more degrees of freedom (22 vs 10) than Duke Humanoid v1. Openness score: Berkeley Humanoid Lite 100, Duke Humanoid v1 85 (of 100); only Berkeley Humanoid Lite publishes FW. Availability: Berkeley Humanoid Lite diy build, Duke Humanoid v1 research only.
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Side by side
■ rows differ| Field | UC Berkeley Hybrid Robotics LabUC Berkeley Humanoid Lite | Duke University General Robotics LabDuke Humanoid v1 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | UC Berkeley Hybrid Robotics Lab | Duke University General Robotics Lab | |
| Class (differs) | Humanoid | Biped | |
| Status | Research | Research | |
| Availability (differs) | DIY build | Research only | |
| Country | United States | United States | |
| Year (differs) | 2025 | 2024 | |
| Specifications | |||
| Height | 80cm | —unsourced | |
| Mass | 16kg | —unsourced | |
| Degrees of freedom (differs) | 22 | 10 | +12 (+120%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | —unsourced | Not for sale | |
| Actuators | BLDC motors with 3D-printed cycloidal gearboxes | —unsourced | |
| Compute | —unsourced | —unsourced | |
| Sensors | —unsourced | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 100/ 100 | 85/ 100 | +15 |
| CAD (25) | public | public | |
| Bill of materials (20) | public | public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) (differs) | public | not public | |
| Software (10) | public | public | |
| Trained policies (10) | public | public | |
| Verification level (differs) | L2 | L1 | |
| Sources (differs) | 3 | 4 | |
| Last checked (differs) | 2026-09-24 | 2026-09-25 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Berkeley Humanoid Lite, Duke Humanoid v1.
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