Robot makerBeijing, ChinaFounded 2023
Beijing innovation center that builds the Tien Kung humanoid robots and releases the Pelican-VL embodied brain models and the XR-1 VLA.
X-Humanoid (Beijing Humanoid Robot Innovation Center) was established in 2023 in the Beijing Economic-Technological Development Area, co-initiated by Jingcheng Machinery Electric, UBTech, Yizhuang Robotics and Shoucheng Holdings. It develops the Tiangong (Tien Kung) humanoid robot platform, which debuted in April 2024, and the Huisi Kaiwu embodied intelligence platform. In February 2026 it completed its first market-based financing round of over RMB 700 million.
Sources: english.beijing.gov.cn (5 Nov 2023) · chinadaily.com.cn (13 Aug 2024) · x-humanoid.com (3 Feb 2026) · x-humanoid.com (17 Oct 2026)
Private company · State-backed innovation center co-initiated by Jingcheng Machinery Electric, UBTech, Yizhuang Robotics and Shoucheng Holdings; first market-based financing in Feb 2026
| Date | Round | Amount | Lead | Source |
|---|---|---|---|---|
| Feb 2026 | First market-based round | Over RMB 700M | n/a | x-humanoid.com, 3 Feb 2026 |
#50 of 104 model companies · score 35.3 / 100 · updated 19 Oct 2026
Each bar shows an input from 0 to 100% before weighting. 2 of 2 listed models have open weights. Most-starred official repository: Open-X-Humanoid/XR-1 (173 stars, 19 Oct 2026).
The score (0–100) measures public, checkable evidence about a company's robot models. It does not measure private capability. A company that publishes no benchmark results and no weights can still have strong models. Every input is computed from the data on each company page, and every number there links to its source.
| Input | Weight | How it is measured |
|---|---|---|
| Published benchmarks | 35% | For each scored benchmark, the company's best result divided by the best result any company has published, averaged over the benchmarks it reports. No published results scores 0. Results come only from the model's own paper, model card or the official benchmark leaderboard. Scored: LIBERO (4-suite average success, %); SimplerEnv Google Robot, visual matching (%); SimplerEnv Google Robot, variant aggregation (%); SimplerEnv WidowX / Bridge (%); CALVIN ABC→D (average length, 0–5); RoboArena (pairwise rating). |
| Open weights | 20% | Share of the company's listed models whose weights the public can download. |
| Adoption | 20% | GitHub stars on the company's most-starred official model repository, on a log scale relative to the most-starred repository in the list. Hugging Face downloads are shown on company pages but not scored, because gated repositories report zero. |
| Released models | 15% | Number of publicly announced, named models, capped at 5. |
| Disclosed funding | 10% | The sum of the funding rounds listed on the company's profile that were disclosed in USD, on a log scale from $10M to the largest sum in the list. Rounds reported only in other currencies are listed but not converted or counted. This input applies only to private startups and robot makers. For big-tech divisions, research labs and listed companies it is n/a, and its weight is shared across the other inputs in proportion. |
Sources. arXiv papers and official model cards for benchmarks and parameters; official leaderboards (RoboArena); the GitHub and Hugging Face APIs for stars and downloads; company announcements and established press for funding. Missing values are shown as n/a, never estimated.
Updated 19 Oct 2026. Benchmark protocols differ between papers, for example in fine-tuning and number of trials, so small gaps between close scores are not meaningful.
Open weightsEmbodied reasoning
Embodied brain vision-language model family (7B to 72B) for perception, spatial reasoning and planning in embodied tasks.
No benchmark results on a shared public benchmark have been published for this model.
Open weightsVLA
VLA that learns discrete Unified Vision-Motion Codes with a dual-branch VQ-VAE and uses them to pretrain on cross-embodiment data; evaluated on six real robots including Tien Kung.
No benchmark results on a shared public benchmark have been published for this model.
