Overview

The Galaxea R1 is Galaxea AI's (Galaxea Dynamics) standard wheeled humanoid mobile-manipulation platform aimed at bimanual research, imitation learning and large-scale data collection. Total system DoF is 24: 6 for the chassis, 4 for the articulated torso, and 14 for the dual arms with grippers. Each arm is a lightweight, highly dynamic Galaxea A1 6-DoF arm fitted with a Galaxea G1 parallel gripper (0-100 mm stroke). The omnidirectional three-wheel steering base and tall torso give the robot a human-scale reachable workspace from floor level to ~2 m. Perception combines a head camera, two wrist cameras and five chassis cameras with a 360 degree LiDAR (a second LiDAR optional). Compute reaches up to ~550 TOPS. Data can be collected via isomorphic teleoperation (kinematically matched leader input) or VR headset teleoperation, and the platform is compatible with the LeRobot dataset format, Galaxea's open-source GalaxeaVLA / G0 VLA models, and the Galaxea Open-World Dataset. The R1 is sold as part of the R1 series alongside the lighter R1 Lite and the higher-spec 7-DoF R1 Pro.

Highlights

• Two 6-DoF Galaxea A1 arms with G1 parallel grippers on a 4-DoF torso and omnidirectional three-wheel steering base (24 DoF total: 6 chassis + 4 torso + 14 dual arms with grippers)
• 0-2 m vertical working range and 70 cm horizontal reach per arm; 5 kg payload at 0.5 m
• 8-camera vision suite (1 head + 2 wrist + 5 chassis) plus a 360 degree LiDAR (2nd LiDAR optional) driving up to ~550 TOPS of onboard compute
• Isomorphic and VR teleoperation for scalable demonstration collection
• Open-source GalaxeaVLA / G0 VLA models and Galaxea Open-World Dataset in LeRobot and RLDS format; ROS 1 Noetic and ROS 2 Humble

Specifications