the reason humanoids stayed in labs was never the software. it was that one actuator could cost more than a used car.
berkeley humanoid lite gets around that entirely. here's the move:
> the gearboxes are 3d-printed and modular
> the whole bill of materials is off-the-shelf hobby parts
> cad, firmware, and the rl training stack all provided
so the thing that used to gate you, a five-figure parts order, just becomes a weekend of printing.
a full humanoid, under $5k
that's the difference between reading about humanoid robots and having one on your bench.