One GPU, Three Hours: SuperMimic Cuts Humanoid Whole-Body Training by Three Orders of Magnitude
Sarah Xiao 129,514 motions, 3 GPU-hours on one card, against 128 GPUs for seven days. How a shared differentiable world model cuts…
Robot Technology Reports
Frameless, Coreless, or Axial Flux: Which Motor Actually Belongs in a Humanoid Joint?
Three motor topologies, three bills every joint pays: torque, response and heat. Why Optimus uses 28 frameless motors, where coreless…
Why the Harmonic Reducer Is the Soul of a Humanoid Joint
Theodore Li 14 of Optimus's 28 rotary actuators use a harmonic reducer. The mechanism, the 30% tooth engagement, and the flexspline fatigue…
How to Pick a Harmonic Joint Module, Joint by Joint
Joint modules are 50-60% of robot cost. Encoder configuration, IP rating, hollow shaft and ratio mapped to each joint -…
42 Degrees of Freedom: A Hand That Outbids Shadow
Human hand 27 DOF, Shadow Hand 26, HONPINE up to 42. Why redundancy matters for learned policies, and the six…
What a Joint Module Actually Does Inside a Bionic Humanoid
10 to 40 degrees of freedom, each one motor plus reducer plus encoder. Why the frameless torque motor changed the…
HarmonicDrive vs Nabtesco vs the Chinese Challengers: Who Actually Ships Humanoid Joint Motors
Five suppliers, five different axes of competition. Why capacity and lead time belong in the comparison next to backlash -…
Robot Dogs Run on Planetary Joint Motors. Here Is Why
The 93rd Victory Day parade put quadrupeds in formation. The joint decision behind them is planetary, not harmonic - and…
Harmonic, RV or Planetary: Which Reducer Goes Where in a Humanoid
The reducer is 36% of a humanoid's cost and every joint wants a different one. How the three principles work,…
Stop Using Just Hands
Amazon's WBD dataset (2.51M whole-body grasps) and a real G1 at 90%. Why redefining what counts as manipulation beat a…