UC Berkeley

form_factor

board(a complete robot built from the published design)

schematics

open(CAD and robot descriptions under CC BY-SA 4.0)

toolchain

open(MIT controller and training code)

The mechanical design, the embedded controller and the training code are all published, the design under CC BY-SA 4.0 and the code under MIT, so the robot can be built and programmed from what is released.

• https://arxiv.org/abs/2504.17249 recorded 2026-09-26

  arXiv 2504.17249 abstract: total hardware cost under $5,000; "fully open-sourcing the hardware design, embedded code, and training and deployment frameworks".

• https://raw.githubusercontent.com/HybridRobotics/Berkeley-Humanoid-Lite-Assets/main/LICENCE recorded 2026-09-27

  Assets repository LICENCE: Creative Commons Attribution-ShareAlike 4.0 International.

• https://raw.githubusercontent.com/HybridRobotics/berkeley-humanoid-lite-lowlevel/main/README.md recorded 2026-09-26

  Low-level README: "the low-level control code for the Berkeley Humanoid Lite robot"; "The main controller is implemented in C".

• https://raw.githubusercontent.com/HybridRobotics/berkeley-humanoid-lite/main/.gitmodules recorded 2026-09-26

  .gitmodules: Berkeley-Humanoid-Lite-Assets and Berkeley-Humanoid-Lite-Lowlevel submodules.

• https://raw.githubusercontent.com/HybridRobotics/berkeley-humanoid-lite/main/README.md recorded 2026-09-26

  README: code "licensed under MIT License"; "Other assets are under Creative Commons Attribution-ShareAlike 4.0 International"; robot descriptions (URDF, MJCF, USD) and Onshape export in the assets submodule; Isaac Lab environments in source/berkeley_humanoid_lite.

• https://ungh.cc/repos/HybridRobotics/Berkeley-Humanoid-Lite-Assets/files/main recorded 2026-09-27

  Berkeley-Humanoid-Lite-Assets file listing: robot descriptions and STL meshes for arms and legs (hip, knee and ankle links).

GitHub stars on the main repository. A robot that builders print and assemble themselves leaves no sales or download count.

• https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FBerkeley-Humanoid-Lite recorded 2026-09-26

  Repository record for HybridRobotics/berkeley-humanoid-lite: 1,878 stargazers.

A walking humanoid is the most general body among the open robots here, and this one comes with a locomotion controller trained in simulation that transfers straight to the hardware.

• https://arxiv.org/abs/2504.17249 recorded 2026-09-26

  Abstract: "Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot"; locomotion controller trained with reinforcement learning and zero-shot policy transfer from simulation to hardware.

• https://lite.berkeley-humanoid.org/ recorded 2026-09-26

  Project page: cycloidal gear design; total hardware cost under $5,000.

• https://ungh.cc/repos/HybridRobotics/Berkeley-Humanoid-Lite-Assets/files/main recorded 2026-09-27

  Assets file listing: leg links for hip yaw, roll and pitch, knee pitch and ankle pitch and roll on both sides, plus shoulder and elbow links for two arms.