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Muted demo loop from the projectCredit: Berkeley Humanoid Lite project page
Build Berkeley Humanoid Lite, a sub-$5,000 open humanoid: media published by Berkeley Humanoid Lite project page (image 2)
Build Berkeley Humanoid Lite, a sub-$5,000 open humanoid: media published by Berkeley Humanoid Lite project page (image 3)

Build Berkeley Humanoid Lite, a sub-$5,000 open humanoid

Humanoid, Hard, $5,000

Berkeley Humanoid Lite is an open-source humanoid under $5,000 with modular 3D-printed gearboxes, Isaac Lab training, sim2sim checks and real-world deployment code.

Cost $5,000: Berkeley-Humanoid-Lite README (under).

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The workspace follows Isaac Lab conventions: environments, robot descriptions (URDF/MJCF/USD) exported from Onshape, and a low-level package that runs on the robot. Teleoperated manipulation and mocap are included.

Hardware & cost: Sub-$5,000 per the README, using widely available parts and printed gearboxes.

Difficulty: Hard.

Agent install prompt (paste into Claude Code, Cursor or Codex): "Clone https://github.com/HybridRobotics/Berkeley-Humanoid-Lite, set up Isaac Lab per the docs, and run the locomotion training and sim2sim validation scripts."

Source: HybridRobotics/Berkeley-Humanoid-Lite on GitHub — https://github.com/HybridRobotics/Berkeley-Humanoid-Lite (facts checked against the project README, Oct 2026; prices vary by region).

Quick answers

How much does it cost to build Berkeley Humanoid Lite?
Under $5,000, per the Berkeley-Humanoid-Lite README.
What do you need to build Berkeley Humanoid Lite?
Sub-$5,000 per the README, using widely available parts and printed gearboxes.
How hard is it to build Berkeley Humanoid Lite?
Hard.
Interfaces

Ideas to try with it

Our ideas, not the builder's claims.

  1. Train a walking policy in Isaac Lab and run the sim2sim check
  2. Print the gearboxes and test one leg on the bench
  3. Use it as a research platform for a university robotics club
1 more idea
  1. Swap in your own controller and compare it to the stock policy
Source
HybridRobotics/Berkeley-Humanoid-Lite on GitHub
Last commit
2026-03-10
Builder
HybridRobotics
Repo
HybridRobotics/Berkeley-Humanoid-Lite, 2,005 stars
Built with
Berkeley Humanoid Lite

What to build next

Builds that share a board, robot or agent with this one.