Figure Humanoid

Figure AI's high-performance humanoid robots - Figure 01, 02, 03 generational evolution

Figure Humanoid

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Overview

Figure AI is a US robotics company founded in 2022 by Brett Adcock, focused on developing AI-powered general-purpose humanoid robots. Led by serial entrepreneur Adcock, who founded Archer Aviation and Vettery, Figure AI has rapidly emerged as a leader in the humanoid market. 1

ItemContent
CompanyFigure AI, Inc.
FounderBrett Adcock (CEO)
Founded2022
HeadquartersSunnyvale, California
VLA ModelHelix (Vision-Language-Action model)
Target MarketIndustrial (manufacturing, logistics), Home

Key Significance

Figure AI humanoids have significant importance in the Physical AI field:

  • First Commercial Humanoid Manufacturing Deployment (Figure AI claim): General-purpose humanoid deployed on actual production line at BMW factory 2
  • Vertical Integration AI Strategy: Transitioned from OpenAI partnership to in-house Helix VLA development (February 2025) 3
  • High-Performance Hardware-Software Integration: Combination of Helix VLA capable of 200Hz full-body control with optimized hardware 4
  • Aggressive Cost Reduction Target: Targeting 90% parts cost reduction in Figure 03, aiming for under $20,000 at mass production 5
  • Large-Scale Production Infrastructure: BotQ factory targeting 12,000 units annually (announced March 2025) 1
  • Proven Industrial Performance: Contributed to production of over 30,000 X3s at BMW factory 2

Generational Comparison

ItemFigure 01 (2023)Figure 02 (2024)Figure 03 (2025)
PurposePrototypeIndustrial pilotCommercial mass production
Height~170cm~170cm168cm (5’6”)
Weight-~66kg60kg (-9%)
Hand DoFBasic gripper16 DoFImproved design
Total DoF-35 DoF35+ DoF
Hand Payload-25kg25kg
CamerasBasic6x RGB8x (including 2 palm)
Battery-Integrated2.3 kWh (5 hours)
ChargingWiredWiredWireless induction (2kW)
ComputingBasicNVIDIA RTX dualDual GPU (S1/S2)
ManufacturingHandmadeCNC machiningDie-casting/injection molding
Target Price-$100K+Under $20K (target)

Source: Wikipedia, Figure AI official announcements

Figure 01

Figure AI’s first humanoid robot officially announced in March 2023. 1

Key Features

  • Bipedal Robot: Targeting logistics and warehouse operations
  • Basic Manipulation Capabilities: Climbing stairs, lifting boxes, using tools
  • OpenAI Integration: Voice conversation and reasoning capabilities using large language models
  • Human-Level Dexterity: Capable of performing tasks requiring precision and coordination

Figure 02

2nd generation humanoid announced August 6, 2024, marking the serious stage for industrial deployment. 1

Key Features

ItemSpec
Hand DoF16 (5-finger both hands)
Total DoF35
Hand PayloadUp to 25kg
Cameras6x RGB
ComputingDual NVIDIA RTX GPU (3x previous)
SensorsRGB cameras, IMU (Inertial Measurement Unit), gyroscope, force sensors, non-contact sensing, microphones, speakers

Major Improvements

  • Cable integrated design in limbs
  • Battery integrated in torso
  • Onboard VLM (Vision Language Model)
  • Real-time perception, decision-making, execution capable

Figure 03

3rd generation humanoid announced October 2025, mass production model targeting both home and commercial use. 5

Physical Specifications

ItemSpec
Height168cm (5’6”)
Weight60kg (Figure 02 -9%)
Battery2.3 kWh (custom)
Operating TimeAbout 5 hours (300 minutes)
ChargingWireless induction 2kW (foot coils)
Data Transfer10 Gbps mmWave

Sensor System

  • Cameras: 8 (6 main + 2 palm)
  • Tactile Sensors: Custom sensors on fingertips (sensing down to 3g - paper clip weight)
  • Vision System: 2x frame rate, 1/4 latency, 60% wider FOV

Audio System

  • Speakers: 2x size, 4x output
  • Microphones: Repositioned for improved clarity
  • Real-time speech-to-speech conversation support

Safety Features

  • Multi-density foam for pinch point protection
  • Soft textile exterior (instead of hard metal)
  • UN38.3 certified battery (BMS, cell, interconnect, pack level protection)

Manufacturing Innovation

  • Manufacturing Method Transition: CNC machining -> die-casting, injection molding, stamping
  • Parts Cost Reduction Target: 90% reduction
  • Target Price: Under $20,000 (at mass production)
  • Wrist Redesign: Lessons learned from BMW deployment reflected, distribution board and dynamic cabling removed

Helix VLA

Helix is Figure AI’s in-house developed VLA (Vision-Language-Action) model announced February 2025. Figure AI introduces Helix as “the first VLA for high-speed continuous control of a humanoid’s full body.” 4

Architecture

System 1 / System 2 Dual System Structure:

SystemRoleFrequencyParameters
System 2 (S2)High-level planning, VLM7-9 Hz7B
System 1 (S1)Low-level control, real-time200 Hz80M

Key Features

  • 35 DoF Control: Full upper body control including fingers, wrists, torso, head
  • Figure AI’s Claimed Firsts:
    • First VLA for high-speed continuous humanoid full-body control
    • First VLA for dual robot simultaneous control
    • First VLA running fully onboard on embedded low-power GPU
  • Learning Efficiency: Trained on approximately 500 hours of teleoperation demos
  • Versatility: No task-specific adaptation needed, single weights for various tasks

Representative Performance: Table-to-Dishwasher

ItemValue
Distance Traveled130+ feet
Unique Interactions33
Objects Handled21 (including delicate dishware)

According to Figure AI, evaluated as “the most complex task ever performed autonomously by a robot.” 4

Industrial Deployment

BMW Factory Pilot (2024-2025)

According to Figure AI, this is the first commercial deployment of a general-purpose humanoid in an automotive production facility. 2 6

ItemContent
LocationBMW Spartanburg Plant (South Carolina)
Duration11 months
Robots Deployed2 Figure 02 units
Work Hours5 days/week, 10-hour shifts
Total Operating Hours1,250 hours

Results

  • Parts Processed: Over 90,000 sheet metal parts loaded
  • Production Contribution: Contributed to over 30,000 BMW X3 production
  • Task Description: Pick sheet metal parts from racks/bins and place on welding equipment

Performance Requirements

ItemStandard
Placement AccuracyWithin 5mm tolerance
Single Motion Time2 seconds
Part Loading Time37 seconds
Full Cycle Time84 seconds
Success Rate Target99% per shift

Lessons Learned

Key lessons from BMW deployment reflected in Figure 03 design:

  • Forearm Issues: Most frequent hardware failure point -> Wrist electronics completely redesigned in Figure 03
  • Thermal Management: Issues due to tight packaging and agility requirements -> Distribution board and dynamic cabling removed

Funding and Valuation

Investment History

PeriodRoundAmountValuationKey Investors
2023Series A~$70M-Early investors
2024.02Series B$675M$2.6BJeff Bezos, Microsoft, NVIDIA, Intel, Amazon, OpenAI
2025.09Series C$1B$39BIntel, NVIDIA, Qualcomm, T-Mobile, Salesforce, Brookfield

Source: Wikipedia, PRNewswire

Cumulative Funding: Approximately $1.7B+ (Series A + B + C)

OpenAI Partnership

  • February 2024: Collaboration agreement with OpenAI, joint development of next-generation AI models for humanoids 7
  • February 2025: Partnership ended, transitioned to in-house AI development 3
  • Reason: “To solve Embodied AI at scale in the real world, you need to vertically integrate robot AI” - Brett Adcock

Future Plans

  • BotQ Factory: Announced March 2025, targeting 12,000 units annually 1
  • 100,000 units within 4 years plan (roadmap)
  • Home Market Entry: Figure 03’s household helper role (laundry, cleaning, dishwasher, etc.) 5

Glossary

TermDescription
VLAVision-Language-Action model. AI model integrating visual input, language understanding, and action output
VLMVision-Language Model. AI model that understands images and text together
DoFDegrees of Freedom. Number of independent directions a robot can move
IMUInertial Measurement Unit. Sensor measuring acceleration and angular velocity
FOVField of View. Range a camera can see

References

Additional References:

See Also

Footnotes

  1. Figure AI Wikipedia ↩ ↩2 ↩3 ↩4 ↩5

  2. Figure AI - BMW Production Contribution ↩ ↩2 ↩3

  3. Figure drops OpenAI - TechCrunch ↩ ↩2

  4. Figure AI - Helix Announcement ↩ ↩2 ↩3

  5. Figure 03 Announcement ↩ ↩2 ↩3

  6. BMW Official Press Release ↩

  7. Series B Funding Announcement ↩