What Humanoid Do You
Want to Train?

Check compatibility of your humanoid platform with the Xsens-Robotics data collection stack. See which retargeting engines, training modes, and integrations are available for your robot.

Humanoid compatibility matrix

We’re actively expanding retargeting support across the humanoid ecosystem. Platforms marked “In Development” are in our active pipeline.

Fully Supported

AgiBot

A2

✓ Retargeters: Westlake, XsensTargeter, GMR, MPI
✓ Full body training
✓ Hand and finger capture
✓ Teleop validated
✓ Sim environment: Isaac Sim

Unitree

G1

✓ Retargeters: XsensTargeter, Westlake, GMR, MPI
✓ Full body training
✓ Hand and finger capture
✓ Teleop validated
✓ Sim environment: Isaac Sim

In Development

Unitree

H1

✓ Full body training
✓ Sim environment: MuJoCo
• In dev: Retargeter (Westlake)
• In dev: Hand and finger capture
• In dev: Teleop

Tesla

Optimus

• In dev: Retargeter (Westlake)
• In dev: Full body training
• In dev: Hand and finger capture
• In dev: Sim environment

Figure AI

Figure 02

✓ Hand and finger capture
• In dev: Retargeter (GMR)
• In dev: Full body training
• In dev: Sim environment

Figure AI

Figure 03

• In dev: Retargeter (GMR)
• In dev: Full body training
• In dev: Hand and finger capture

NEURA Robotics

4NE-1

• In dev: Retargeter (MPI)
• In dev: Full body training
• In dev: Hand and finger capture
• In dev: Teleop
• In dev: Sim environment

Kepler

Forerunner K2

• In dev: Retargeter (Westlake)
• In dev: Full body training

1X Technologies

NEO

• In dev: Retargeter (GMR)
• In dev: Full body training
• In dev: Sim environment

Not Yet Supported

Agility Robotics