Unitree G1 humanoid harvests okra outdoors: 70 days of dev, 16/20 success
CyberRobooo · x · 2026-09-17
Kota Ueda of Japanese startup Orboh, working with Toyota Body Research Institute, used a Unitree G1 humanoid to detect and pick okra in an outdoor field.
Key facts:
- Pipeline: detection → approach → cut-and-grasp → basket storage → move on. Indoor success rate 16/20; total dev time 70 days, 40 of which went to UMI data collection and Diffusion Policy / Flow matching training.
- Hardware: a ZED-M stereo camera mounted on G1's chest for detection and ranging; a Dex1-1 hand on the right (with disposable chopsticks as a makeshift gripper — grip force snapped the okra); a harvest basket on the left arm and a wire-mesh basket made from a 100-yen shop on its back.
- Outdoor challenges included heat dissipation. The author notes agriculture × humanoid has almost no prior literature; the real value is a reusable software foundation transferable to factory and construction PoCs.
- All code is open-sourced, with a detailed development note.
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