Berkeley Humanoid Lite
UC BerkeleyBerkeley Humanoid Lite is an open-source bipedal humanoid robot from UC Berkeley's Hybrid Robotics lab, built for under $5k in parts from 3D-printed cycloidal gearboxes and widely available parts. The project publishes the CAD and robot descriptions, the low-level C controller over CAN, and Isaac Lab environments for training locomotion policies that transfer from simulation to the hardware.
Openness
5 medium confidence- 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).
Adoption
2 low confidenceGitHub 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.
Capability
5 medium confidenceA 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.
Verified 2026-09-26