Unitree A1

An early small-to-mid quadruped from Unitree, once a popular platform for reinforcement-learning locomotion research.

A1 is an early small-to-mid-size quadruped robot from Unitree Robotics, reportedly launched around 2020, with direct-drive motors at the joints and a compact build. Published specs: a 5 kg payload, a maximum sustained running speed of 3.3 m/s (about 11.9 km/h), joints delivering up to 33.5 N·m of torque with a maximum joint speed of 21 rad/s, and 1–2.5 hours of runtime. Because it was priced far below platforms like ANYmal or Spot, it became a popular piece of hardware for academic work on reinforcement-learning locomotion and sim-to-real transfer around 2020–2022 — for example, the Rapid Motor Adaptation (RMA) paper ran its real-world experiments on an A1. Unitree later replaced it in its lineup with the Go1 and Go2.

ExampleThe RMA paper deploys a walking policy trained in simulation onto an A1, letting it walk stably across unfamiliar terrain such as grass, sand, and stairs.

Also called

A1

Related

Quadruped Robot · Unitree Robotics · Unitree Go1 · Rapid Motor Adaptation · RL-based Locomotion Control · Sim-to-Real Transfer

Sources

Unitree A1 官网 (Chinese)

As of

2026-09