Unitree H1, G1, R1 and H2: The Whole Humanoid Family Compared

Four Letters, Four Different Robots

Unitree Robotics of Hangzhou, founded in 2016, built its leading position on its Go and B series quadruped robots, but has also been steadily expanding its humanoid line. On 19 August 2026 the company debuted on the STAR Market in Shanghai: the opening price (1,100 yuan) was 629% above the offer price of 150.8 yuan, and first-half 2026 revenue was about 1.15 billion yuan (+48.5% year on year) (Xinhua) Unitree H1 Unitree G1 Unitree R1 Unitree H2. That confirms the company is no longer a startup demonstrating prototypes but a listed manufacturer with real sales scale.

The problem is that Unitree's naming can be confusing. H1, G1, R1 and H2 are not successive versions of the same humanoid but four separate platforms with different purposes, heights and prices, from $4,900 for the lightest R1 Air to the $90,000 list price of the H1. This article sorts out the differences between the models so you can match the right machine to a specific use: research, education, software development or demonstrations.

Comparison Table

Prices and parameters come from Unitree's official store and product pages (R1, G1, H1, H2); as of September 2026, excluding tax and shipping. Amounts in the text are given in US dollars. Polish shops (including x-kom, Botland and DeltaRobots) offer the G1 and H2, and their zloty prices are higher than the USD conversion because of customs duty, VAT and the seller's margin; the model pages show current offers.

Unitree R1: The Cheapest Way Into a Full-Size Humanoid

The R1 is the lightest and cheapest family in the lineup: up to 123 cm tall, about 29 kg, an 8-core processor, a 4-microphone array and a 2-DOF head; according to the manufacturer it has 20 to 26 degrees of freedom (Unitree, store) “Degrees of Freedom (DOF) in Humanoid Robots”. Battery life is about 1 hour and the maximum arm load about 2 kg (manufacturer's data).

The family comes in three variants: - R1 Air ($4,900): the entry version, 20 degrees of freedom, official price from Unitree's store. - R1 Standard ($5,900): 26 DOF (5 per arm, 2 in the waist, 2 in the head). - R1 EDU ($10,500 in the store): 26-40 DOF, access to software development (secondary development), an optional dexterous hand and compute module.

The manufacturer's datasheet does not give the R1's walking speed “How to Read a Robot Datasheet”. The R1 is not an industrial machine: about 1 hour of battery life and about 2 kg of arm load practically rule out production uses. It is a platform for universities building robotics labs on a low budget, for hobbyists, and for creators testing motion-control algorithms “Humanoid Robots in Factories 2026”.

Unitree G1: The Bridge Between Demo and Research

The G1 stands 132 cm tall and weighs 35 kg, noticeably smaller than the flagship H models, but with an extensive developer version. In the manufacturer's datasheet the standard variant (23 DOF) has no access to software development (secondary development), unlike the G1 EDU, which does, offering 23 to 43 degrees of freedom (including optional two extra DOF in the waist and in the wrist) and an optional three-finger dexterous Dex3-1 hand with 7 degrees of freedom and optional tactile sensors (Unitree) “Actuators in Humanoid Robots”.

The manufacturer does not publish a G1 EDU price; it is given after contacting the sales team. The store offers the G1 at $13,500 and the G1 Pro at $21,500 (store) “How Much Does a Humanoid Robot Cost in 2026”. The battery lasts about 2 hours of operation in both variants, and the datasheet does not give a walking speed.

The G1 EDU is currently one of the most affordable research platforms with a full SDK in the full-size humanoid market, which explains its popularity at technical universities and in AI labs working on locomotion and manipulation humanoid robots.

Unitree H1: The Older Flagship, Still on Sale

The H1 is a full-size Unitree humanoid aimed at research and industry: about 180 cm, about 47 kg, 19 degrees of freedom (5 per leg, 4 per arm, 1 in the waist) and a maximum joint torque of up to 360 N·m. According to the manufacturer it moves at 3.3 m/s (described as a world record) (Unitree) “How Does a Humanoid Robot Work”.

The manufacturer's store shows a list price of $90,000 but adds the note "contact us for the real price" (store), so the actual transaction amount is negotiated individually. Since the H2 appeared, the H1 has been positioned as the older flagship: still available, but no longer the top of the range.

Unitree H2: The New Flagship, Focused on Range of Motion

The H2 is Unitree's newest full-size humanoid in the manufacturer's store (since January 2026): 182 cm tall, about 70 kg, considerably heavier than the H1, with 31 degrees of freedom at a maximum joint torque of 360 N·m (Unitree). The manufacturer cites an onboard compute system rated at 2070 TOPS and a "bionic head" with facial expressions. The manufacturer emphasizes range of motion and fluidity rather than speed records, which sets the H2's philosophy apart from the H1's.

The official starting price in Unitree's store is $29,900, significantly less than the $90,000 list price for the H1, despite added capabilities; an H2 Plus variant is priced in the store at $100,000 (store). Access to software development (secondary development) is available only in the EDU versions; the standard H2, like the standard G1, is locked in software. The manufacturer's datasheet gives a maximum arm payload of about 15 kg (peak) and about 7 kg (rated) and a battery life of about 3 hours; it does not give the H2's walking speed.

How to Choose a Model for Your Use

• Academic research and AI development on a limited budget → R1 EDU or G1 EDU: full SDK, a relatively low barrier to entry compared with the competition in the full-size humanoid segment “Humanoid Robot Market Forecasts”.
• Education, teaching, a first robotics lab → R1 Air or R1 Standard: the lowest entry cost, an appealing motion showcase for students.
• Demonstrations, shows, marketing → G1 (Standard): a smaller investment than the EDU, with enough showcase capability and no need for programming.
• Industrial research, production-line integration, projects needing more strength and reach → H2, or the H1 as a cheaper alternative if the price is negotiated.
• Comparison with other manufacturers' offerings (for example Tesla Optimus) helps assess whether Unitree's price segment is competitive globally “Tesla Optimus: What We Actually Know (as of September 2026)”.

Whichever model you choose, check carefully which specification fields have a source and which are marketing claims. For the G1, R1 and H2 the manufacturer does not give some key parameters (for example walking speed), which makes a reliable comparison with competitors harder “How to Read a Robot Datasheet” “Robotics Glossary: 65 Terms with Polish Equivalents”.

Sources and Disclaimer

The data come from Unitree's official store and product pages and from the Xinhua report on the stock-market debut; the full list is in the sources section above. Prices are given in US dollars, as of September 2026, excluding customs duties, tax and shipping costs. For the G1 EDU, R1 EDU, H2 EDU and H1 the actual transaction price is set individually with the manufacturer or a reseller and may differ from the values given here. None of the models has a confirmed official distributor in Poland as of the publication date.