Keenon XMAN-R1

Keenon Robotics · Humanoid Robots

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The XMAN-R1 is KEENON Robotics' wheeled humanoid service robot, introduced in April 2025 to work alongside the company's delivery and cleaning robots. A humanoid upper body with two 7-DoF arms and two 6-DoF dexterous hands sits on a wheeled chassis, for 36 degrees of freedom in total. It is about 174 cm tall and weighs 110 kg. Four depth cameras, four wide-angle cameras and two LiDARs provide perception, and 275 TOPS of onboard computing runs an end-to-end vision-language-action model. KEENON has demonstrated it as a barista, picking up cups and preparing coffee.

Specs

• Height: 174 cm
• Weight: 110 kg
• Degrees of Freedom: 36 (arms 2 x 7, hands 2 x 6, waist and legs 6, head 2, chassis 2)
• Hands: Two 6-DoF dexterous hands
• Compute: 275 TOPS, 64 GB VRAM, 64 GB storage
• Cameras: 4 depth cameras, 4 HD wide-angle cameras (360° coverage)
• Sensors: 2 LiDARs (forward and rearward)
• Display: HD flexible curved facial display
• Software: End-to-end VLA model trained with deep reinforcement learning; open hardware and software platform
• Teleoperation: VR dual-arm teleoperation with multi-modal feedback

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