Time to democratize humanoid robots! Introducing ToddlerBot, a low-cost ($6K), open-source humanoid for robotics and AI research. Watch two ToddlerBots seamlessly chain their loco-manipulation skills to collaborate in tidying up after a toy session.

With @OpenAI's Realtime API, two ToddlerBots can communicate, allowing one to demonstrate push-ups to the other. This showcases language capabilities and zero-shot sim-to-real transfer with open-loop keyframe animation.

Our design ensures balanced power distribution between ToddlerBot’s upper and lower body. As a result, Toddy has strong arms and pull-ups become effortless as well.

ToddlerBot can grasp objects 14× its torso volume and lift 40% of its weight. It runs RL walking for 19 min before motor heat increases falls. It takes up to 7 falls to break ToddlerBot, with repairs taking just 35 minutes, including 3D printing, assembly, and recalibration.

Most importantly, we open-source EVERYTHING and we take this commitment seriously. We will continue maintaining and improving everything with exciting future releases! Follow us on X or join our Discord or WeChat community for the latest updates. Links are on our website.

A huge thanks to my incredible collaborator, @KenWangWeizhuo—this wouldn’t be possible without his hardware expertise. Grateful to my amazing advisors, @SongShuran and C. Karen Liu, for their invaluable guidance and unwavering support.

Paper: Website: Full Video: Docs: Onshape:

The simulator is MuJoCo and the locomotion sim2real is done with MJX. Thanks to the great MuJoCo team @kevin_zakka @the_real_btaba 😉

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This is incredible! I'll have to build one of these to go along with @lethic1's RX1

@lethic1 Glad that you like Toddy, Nick! Looking forward to your build. Keep us posted!

very cool project! is the shuffling gait a result of hardware choices/design or a software limitation, in your opinion?

it's an interplay of both. Dynamixel motors are not that strong, and we are also working hard to improve our algorithm