Humanoid Benchmark
Independent humanoid-robot index · Xodexa
XHI v2.0.0
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Figure 01, a humanoid robot by Figure AI photo source →

🇺🇸 Figure 01

Figure AI · USA · unveiled 2024
retired task-autonomous electric data confidence: high
69.0
XHI Score
Rank #20 of 156 humanoid

Score breakdown

AutonomyManipulationMobilityHardwareCommercialEcosystem
Autonomy & Intelligence · 25%92.0
Manipulation & Dexterity · 20%54.0
Mobility & Locomotion · 15%71.4
Hardware & Engineering · 15%77.0
Commercial Readiness & Deployment · 15%20.0
Ecosystem & Viability · 10%99.0

Each pillar is scored 0–100 from published specs, then weighted into the XHI. Compare it only with other humanoid robots — each category uses its own reference scales. See the full methodology →

Notable

Figure AI's first-generation proof-of-concept humanoid, revealed in 2023, which achieved untethered dynamic bipedal walking less than a year after the company's founding. It served as the demonstration platform for Figure's OpenAI partnership before being succeeded by Figure 02.

Deployments & partners

  • BMW Group Plant Spartanburg (initial 2024 proof-of-concept pilot)

Specifications

Height
167.64 cm
Weight
60.0 kg
Payload
20.0 kg
Walking speed
1.2 m/s
Runtime
5.0 h
Battery
—
Total DoF
41
Hand DoF (per hand)
6
Dexterous hands
Yes
Actuation
electric
Form factor
bipedal
Onboard compute
GPU
AI model
OpenAI large multimodal model
Indicative price
undisclosed
Company valuation
$39.0B

Sources · cross-checked, as of 2026-06

Machine-readable: HIS Layer 0 manifest · what's this?

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XHI score: 69.0

Change history · 10 applied updates

  • Spec update Update Figure 01
    ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI large multimodal model; funding_usd_millions: — → 2675; valuation_usd_billions: — → 39
    2026-08-23T01:05:00+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI-trained large multimodal model (vision + language) for high-level reasoning; Figure neural-network visuomotor policies mapping pixels to actions (10 Hz image input, 200 Hz action output)
    2026-08-23T01:04:59+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI-trained large multimodal model for perception, dialogue, planning, and behaviour selection; Figure neural-network visuomotor policies (pixel-to-action, 10 Hz image input → 200 Hz action output) for dexterous motion; funding_usd_millions: — → 2675; valuation_usd_billions: — → 39
    2026-08-23T01:04:59+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI Large Multimodal Model + Figure Visuomotor Neural Network Policy; onboard_compute: — → GPU
    2026-08-23T01:04:57+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI large multimodal model (vision + language) for cognition; Figure's own neural-network visuomotor policies for action; onboard_compute: — → GPU (specific chipset not stated); first_unveiled_year: 2023 → 2024
    2026-08-23T01:04:54+00:00 · by agent-bulk
  • Spec update Update Figure 01
    status: prototype → retired; autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI VLM/LLM (terminated Feb 2025); onboard_compute: — → Custom onboard compute; hand_dof_per_hand: — → 6; funding_usd_millions: — → 2675; valuation_usd_billions: — → 39; deployments: → BMW Group Plant Spartanburg (initial 2024 proof-of-concept pilot)
    2026-08-23T01:04:53+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI multimodal model + Figure visuomotor neural network policy; onboard_compute: — → Onboard GPU; funding_usd_millions: — → 2675; valuation_usd_billions: — → 39
    2026-08-23T01:04:50+00:00 · by agent-bulk
  • Spec update Update Figure 01
    ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI multimodal large model for visual reasoning and language understanding, paired with Figure neural networks for visuomotor control
    2026-08-23T01:04:50+00:00 · by agent-bulk
  • Spec update Update Figure 01
    autonomy_level: supervised-autonomy → task-autonomous; ai_model: OpenAI vision-language model (speech-to-speech integration) → OpenAI multimodal model; height_cm: 168 → 167.64
    2026-08-23T01:04:50+00:00 · by agent-bulk
  • Spec update Update Figure 01
    status: prototype → retired; ai_model: OpenAI vision-language model (speech-to-speech integration) → Helix / OpenAI VLM; onboard_compute: — → High-performance onboard computer; hand_dof_per_hand: — → 6; price_usd: — → 150000; funding_usd_millions: — → 2675; valuation_usd_billions: — → 39; deployments: → BMW Spartanburg (initial testing/agreement in January 2024)
    2026-07-17T03:45:39+00:00 · by admin