Galaxea Arms (A1/A1X/A1Y)
Galaxea AI's lightweight force-controlled robot arms - High-performance low-cost manipulators for Embodied AI research
Galaxea Arms (A1/A1X/A1Y)
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Overview
| Item | Details |
|---|
| Manufacturer | Galaxea AI (星海图, Beijing, China) |
| Product Line | A1 (High-performance), A1X/A1Y (Lightweight dual configuration) |
| DoF | 6 |
| Design Philosophy | Lightweight + Force Control + High-speed motion |
| Price Range | A1XY: $2,999 ~ $3,999 (A1/A1X-T separate inquiry) |
| Main Applications | Embodied AI research, VLA learning, Teleoperation, Education |
Key Significance
Core Hardware for Embodied AI Research
Galaxea Arms is a force-controlled robot arm designed for Embodied AI research with the following key significance:
- Force Control Capability: Planetary gear motors in each joint provide precise torque and force feedback. Enables delicate object manipulation and safe human-robot interaction
- Extreme Speed: 10 m/s end-effector linear velocity, 40 m/s^2 acceleration for high-speed motion support 1 - Maximizes research data collection efficiency
- Accessible Pricing: At $3,000~$4,000 for A1XY, approximately 1/10 the cost of Franka ($30,000+)
- Complete Ecosystem: Integrated research platform with R1 humanoid, G1 gripper, and G0 VLA model
Positioning vs Franka/xArm
| Item | Galaxea A1 | Franka Research 3 | xArm 7 |
|---|
| Price | Inquiry | ~$30,000 | ~$10,500 |
| DoF | 6 | 7 | 7 |
| Payload | 3.5kg (max) | 3kg | 3.5kg |
| Reach | 700mm | 850mm | 700mm |
| Force Control | All joints | All joints | Limited |
| Max Speed | 10 m/s | 1.5 m/s | 1 m/s |
| Weight | 6kg | 18kg | 13.7kg |
| Company Status | Active | Filed for insolvency in 2023 | Active |
Galaxea A1 Differentiators:
- Overwhelming Speed: 5-10x faster end-effector speed compared to competitors, enabling high-speed manipulation research
- Extremely Lightweight: At 6kg, easy to move and install
- Lowest-cost Force Control: Most affordable among all-joint force-controlled arms
Company Introduction
Galaxea AI (星海图)
| Item | Details |
|---|
| Founded | September 2023 |
| Headquarters | Beijing, China |
| Valuation | $700M (as of 2025) |
| Mission | ”Serving 10 billion humans with 10 billion robots” |
| Key Investors | Meituan, IDG Capital, Ant Group, Baidu Ventures |
| Major Customers | Huawei, Volkswagen, Samsung, ByteDance, Stanford, MIT, Physical Intelligence |
Galaxea AI is an Embodied AI company founded by scientists from Tsinghua University and Stanford University. CEO Jiyang Gao (高继扬) has autonomous driving experience from Waymo and Momenta, while co-founder Huazhe Xu completed his PhD at UC Berkeley, postdoc at Stanford, and is currently an assistant professor at Tsinghua University.
Core Capabilities:
- Full lineup of robot arms (A-Series), grippers (G-Series), and humanoids (R-Series)
- G0 VLA Model: Self-developed Vision-Language-Action model
- Open-World Dataset: Over 500 hours of real-world manipulation data
Product Lineup
| Item | Spec |
|---|
| DoF | 6 |
| Weight | 6 kg |
| Payload | 2kg (rated) / 3.5kg (max) |
| Reach | 700 mm |
| Repeatability | 1 mm |
| Max End-Effector Speed | 10 m/s |
| Max End-Effector Acceleration | 40 m/s^2 |
| Rated Voltage | 48V |
| Rated Current | 6A (max 10A) |
| Size (Extended) | 775 x 128 x 237 mm |
| Size (Folded) | 449 x 128 x 277 mm |
| Interface | USB 2.0 |
Joint Specifications:
| Joint | Range of Motion | Rated Torque |
|---|
| Joint 1 | [-165deg, +165deg] | 20 Nm |
| Joint 2 | [0deg, 180deg] | 20 Nm |
| Joint 3 | [-190deg, 0deg] | 9 Nm |
| Joint 4 | [-165deg, +165deg] | 3 Nm |
| Joint 5 | [-95deg, +95deg] | 3 Nm |
| Joint 6 | [-105deg, +105deg] | 3 Nm |
A1X (Human-Wrist Configuration)
| Item | Spec |
|---|
| DoF | 6 |
| Weight | 4.2 kg |
| Payload | 3kg (rated, 0.6m reach) / 5kg (max) |
| Repeatability | 0.05 mm |
| Max End-Effector Speed | 5 m/s |
| Max End-Effector Acceleration | 38 m/s^2 |
| Feature | Human wrist-like dexterity |
A1X Joint Ranges:
- Joint 1: 330deg (Yaw), 600mm radius
- Joint 2: 180deg (Pitch)
- Joint 3: 190deg (Pitch)
- Joint 4: 180deg (Pitch)
- Joint 5/6: 330deg (Roll)
A1Y (Low-Inertia Configuration)
| Item | Spec |
|---|
| DoF | 6 |
| Weight | 4.2 kg |
| Payload | 3kg (rated) / 5kg (max) |
| Repeatability | 0.05 mm |
| Feature | Lightweight, low-inertia performance |
A1Y Joint Ranges (Joints 4-6 differ from A1X):
- Joint 4: 330deg (Roll)
- Joint 5: 210deg (Pitch)
- Joint 6: 330deg (Roll)
A1X vs A1Y Comparison
| Item | A1X | A1Y |
|---|
| Design Purpose | Wrist dexterity | Low-inertia performance |
| Joint 4 | Pitch 180deg | Roll 330deg |
| Joint 5 | Roll 330deg | Pitch 210deg |
| Suitable For | Complex rotational motions | Fast linear motions |
A1XY (Dual Configuration Package)
A1X and A1Y configurations provided as a single interchangeable package. Maximizes flexibility by allowing wrist configuration changes based on research needs.
Price: $2,999 (sale) / $3,999 (regular)
Force Control
The core differentiator of Galaxea Arms is all-joint force control capability.
Technical Implementation
| Feature | Description |
|---|
| Actuators | 6 planetary gear motors |
| Torque Sensing | All joints |
| Feedback | Real-time torque/force feedback |
| Impedance Control | Supported |
| Compliance | Adjustable |
Use Case Scenarios
- Delicate Manipulation: Handling fragile objects like eggs, fruits
- Safe Collaboration: Collision detection/response when working in shared space with humans
- Adaptive Gripping: Grasping that adapts to various shapes/materials
- Force-based Learning: Demonstration collection including force data for Imitation Learning
End Effectors
Galaxea G1 Gripper
| Item | Spec |
|---|
| Type | Parallel 2-finger gripper |
| Length | 145 mm |
| Opening Range | 0 - 100 mm |
| Grip Force | 100 N |
| Control | Includes joint motor |
Dexterous Hand (Optional)
| Item | Spec |
|---|
| DoF | 6 |
| Number of Joints | 12 |
| Weight | 540 g |
| Repeatability | 0.20 mm |
| Finger Grip Force | 10 N (max) |
Teleoperation
A1X-T Isomorphic Teleop Device
An intuitive remote manipulation device utilizing an isomorphic replica of the A1X arm.
| Feature | Description |
|---|
| Mapping | 1:1 joint synchronization |
| Feedback | Bidirectional force feedback |
| Precision | Millimeter level |
| Application | High-quality demonstration data collection |
Additional teleop options when using dual A1 arms on R1 humanoid:
- Meta Quest 3 VR: Immersive first-person view manipulation
- Standard Remote Controller: Analog stick-based control
Software and SDK
Official Resources
Supported Frameworks
| Framework | Support |
|---|
| ROS 1 | O |
| ROS 2 | O |
| Python SDK | O |
| C++ SDK | O |
VLA Research Applications
G0 Dual-System VLA Model
Galaxea has open-sourced its self-developed G0 VLA model.
| Component | Role |
|---|
| G0-VLM (System 2) | Multimodal planning (Vision-Language Model) |
| G0-VLA (System 1) | Precise motion execution (Vision-Language-Action) |
Features:
- Two systems operate asynchronously at different frequencies
- 3-stage learning: Cross-embodiment pretraining → Single-embodiment pretraining → Task-specific fine-tuning
Galaxea Open-World Dataset
| Item | Spec |
|---|
| Total Duration | Over 500 hours |
| Number of Tasks | Over 150 |
| Number of Scenes | Over 50 |
| Collection Platform | Galaxea R1 Lite (dual A1 arms) |
| Feature | Consistent data from single embodiment |
Dataset Characteristics:
- Collected in real home/office environments
- Includes long-horizon tasks
- Optimized for few-shot generalization research
Research Use Cases
- Imitation Learning: High-quality demonstration collection via teleoperation
- VLA Fine-tuning: Task-specific fine-tuning based on G0 model
- Sim-to-Real: Policy transfer from simulation to real robot
- Mobile Manipulation: Mobile manipulation research on R1 platform
Purchase Guide
Recommendations by Purpose
| Purpose | Recommended Model | Reason |
|---|
| Embodied AI Research | A1 | Force control, high-speed, high payload |
| Education/Entry | A1XY | Low cost, dual configuration |
| Data Collection | A1X-T + A1X | Isomorphic teleop |
| Humanoid Research | R1 + A1 | Full platform integration |
| Product | Regular Price | Sale Price |
|---|
| A1XY | $3,999 | $2,999 |
| A1 | Inquiry | - |
| A1X-T (Teleop) | Inquiry | - |
Where to Buy
References
Official Resources
Research Papers
News and Articles
Product Pages
See Also