Berkeley Humanoid Lite v1.1.0 Release

After 6 months since our initial release, we wanted to bring you an update of Berkeley Humanoid Lite v1.1.0! 🎉
This update not only brings improvements to the codebase but also celebrates the vibrant community that has formed around the project.

Community Acknowledgements

One of the most rewarding outcomes since the initial release has been seeing people from around the world actively building, modifying, and experimenting with Berkeley Humanoid Lite.

We want to give a huge thanks to community members including:

• 陈思祥 (Chen Sixiang)
• CJ
• DrV
• Eguene @Accidentalgenius2023
• 二池一
• jonnyspaceman
• Kelvin @kelvintong88
• Kranthi Kumar Muppala @kranthie
• 李鑫
• Luffy @fei123ilike
• Obe @Sunze20
• 闪亮的星

— and many others who have been tirelessly asking questions, answering questions, and sharing their build progress in our WeChat group and Discord server.

Your contributions, whether through detailed debugging, showcasing assembly photos, or simply cheering others on, have been invaluable in growing this project. Our deepest gratitude goes out to all community members who have joined, built, and shared. This project is alive because of you!

To celebrate, we've dedicated this section to showcasing photos and videos documenting progress from the community.

Actuator.Printed.in.Red.Moving.mov

Arm.Joint.Moving.mp4

Biped.Locomotion.Test.mp4

Seeing people turn design files and off-the-shelf parts into real humanoid robots is incredibly inspiring — and it proves the original vision of Berkeley Humanoid Lite: making humanoid robotics accessible and reproducible for everyone.

Codebase Updates

Since the initial release, we have been fixing bugs and adding new features to the codebase and documentation. Some highlights include:

• Add video and image instructions on wiring, ESC firmware configuration, and motor calibration process.
• Fix various issues of 3D printing files on MakerWorld.
• Add missing parts on the BOM list.
• Switch to uv as package manager.
• Upgrade SteamVR Python interface and support Ubuntu systems in addition to Windows.
• Upgrade robot asset generation code.

Full Changelog: v1.0.0...v1.1.0

These changes addresses issues raised from the first wave of builders and the broader research community. Again, many thanks to everyone who provided feedback and suggestions!

Looking Ahead: V2 Announcement

We are also excited to share early news: a V2 version of Berkeley Humanoid Lite is planned!

The main motivation is to address challenges with the current design:

• Actuators: While the 3D-printed cycloidal actuators are low-cost and accessible, they are also a bit too fragile for high-performance tasks.

• Wiring: The connectors on the STM motor controllers and the cables are not reliable and prone to breaking during extended use.

For V2, we are exploring the use of off-the-shelf actuators in a similar price range but with improved stiffness and reliability. This is still in early planning, but we wanted to share our direction with the community. Stay tuned!

Closing Marks

Thank you again to everyone who has supported Berkeley Humanoid Lite since day one. v1.1.0 is not just a technical release — it is proof that an open-source humanoid project can grow through global collaboration.

We can't wait to see more of your builds, feedback, and contributions as we prepare for the next big step with V2.

Initial Release

v1.0.0

Update README.md