# Home

[**Website**](https://lite.berkeley-humanoid.org/) | [**arXiv**](https://arxiv.org/abs/2504.17249) | [**Paper**](https://lite.berkeley-humanoid.org/static/paper/demonstrating-berkeley-humanoid-lite.pdf) | [**Video**](https://youtu.be/5qgEJpEf3pQ) | [**Documentation**](home) | [**Code**](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite)

**Berkeley Humanoid Lite** is an open-source, sub-$5,000 humanoid robot featuring modular 3D-printed gearboxes and widely available components, designed to democratize and advance humanoid robotics research.



This website contains documentation on helping you build your own version of the robot and setting up the corresponding software environment to perform locomotion and teleoperated manipulation on the robot.



During the development of the robot, we encountered numerous bugs and challenges. In the _In-depth Contents_ section, we document our effort of understanding the system and the steps we took to resolve these problems. We hope this serves as a valuable resource for the community.



If you have any questions or comments, please reach out to us by either [creating a Github Issue](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite/issues/new) or joining our community!



{% hint style="info" %}
## ⚠ <mark style="color:red;">**WARNING**</mark>

This is not just a software project. It includes designs for high power electronics. It has not yet burned down any UC Berkeley labs or anyone's houses, but there are no guarantees : )\
Please follow all steps with extra caution.
{% endhint %}

