The Unitree G1-D is a comprehensive end-to-end platform designed to accelerate humanoid robot development through integrated data acquisition, model training, and deployment tools. Built around Unitree's high-performance G1 humanoid embodiment, it provides researchers and developers with everything needed to go from raw data to deployed AI behaviors.

At its core, the G1-D features a higher-DOF robot platform with 19 total degrees of freedom (excluding end-effectors), including 7-DOF arms (×2), a 2-DOF waist, 1-DOF column, and 2-DOF base — delivering an expanded operational workspace for complex manipulation tasks.

The platform includes streamlined data acquisition tools covering the full pipeline: collection, processing, labeling, review, and data asset management — all within a unified interface. Comprehensive model training and inference tools support distributed training, custom model development, and seamless deployment with full compatibility for all major open-source AI frameworks.

G1-D combines proprietary in-house actuators, gearboxes, encoders, and sensors with a software ecosystem purpose-built for embodied AI research, making it the ideal foundation for end-to-end humanoid robot learning and application development.

• Total DOF (excl. end-effector): 19
• Arm DOF: 7×2 (14 total)
• Waist DOF: 2
• Column DOF: 1
• Base DOF: 2
• In-house actuators, gearboxes, encoders, and sensors
• Unified data pipeline: acquisition, processing, labeling, review, and asset management
• Distributed model training support
• Compatible with all major open-source AI frameworks
• Seamless model deployment and inference tools