Unitree G1-D

G1-D is a legless version of the Unitree G1: a two-armed torso on a lifting column and, in the Ultimate version, a mobile base. Unitree sells it as a data collection and AI training station, bundled with software for data acquisition, training and deployment.

Design and hardware

G1-D comes in two versions. Both weigh about 90 kg with battery, have 7-DoF arms, a 2-DoF waist and a column that raises the torso from 1260 to 1680 mm at about 60 mm/s. Each arm lifts about 3 kg, though Unitree notes payload varies a lot with arm pose.

The Standard version (17 DoF excluding end effectors) is stationary and runs about 2 hours on battery. The Ultimate version (19 DoF) adds a differential-drive base that turns in place and drives at up to 1.5 m/s, with lidar, two depth cameras, collision sensors and low-obstacle sensors; an extra 30 Ah chassis battery stretches runtime to about 6 hours.

It has an HD stereo camera in the head and an HD camera on each wrist, an 8-core CPU and optional compute modules such as an NVIDIA Orin NX 16 GB (100 TOPS). End effectors include a two-finger gripper, a three-finger hand with or without tactile sensing, or a five-finger hand. The 9 Ah upper-body battery is quick-release.

Software and AI

Unitree bundles a platform covering the whole data pipeline: creating collection tasks, annotation, review, storage and export to mainstream training formats. It is designed to handle hundreds of robots collecting data simultaneously and to run around the clock.

The training side supports distributed training, simulation-based evaluation and one-click deployment, with integration of open models such as PI and GR00T. Unitree also offers UnifoLM-WMA-0, an open world-model-action architecture that predicts the physical outcomes of actions and can generate synthetic data.

Applications and deployments

Unitree lists service, retail and industry as target areas, but G1-D is mainly positioned as a tool for labs and companies building datasets and training manipulation models.

Manufacturer

Unitree Robotics (Hangzhou Yushu Technology), based in Hangzhou, is known for its Go and B quadrupeds and its G1, H1, H2 and R1 humanoids, and develops its own motors, reducers, controllers and lidars.

Price and availability

G1-D is part of Unitree's lineup; end effectors and pricing are arranged with its sales team, and the product page lists no price.

Timeline

• 2025 Unitree introduces G1-D as a data collection and training platform

Sources

1. Unitree G1-D, Unitree Robotics (2025)
2. About Unitree, Unitree Robotics (2026)

Updated: 2026-10-10

Compared with the catalogue

• At 168 cm the Unitree G1-D is taller than 38% of the humanoids in the catalogue (median: 170 cm).
• It has 19 degrees of freedom against a catalogue median of 28; more degrees of freedom usually means finer arm and hand movement.
• Its weight of 90 kg (catalogue median: 65 kg) matters for transport and for working around people.
• It is one of 8 Unitree models in the catalogue and one of 128 humanoids from China.

Capabilities