Tesla Optimus Gen 3

Overview

1.73m tall, 57kg humanoid with 28 actuated body DOFs plus 22 DOFs per hand. Gen 3 swaps Gen 2's harmonic drives for Tesla-designed planetary actuators, drops mass ~10kg, and routes hand tendons through the forearm to cut end-effector inertia ~40%. Compute is a derivative HW4 SoC running the same vision-to-action policy pipeline as FSD — billions of video frames plus sim rollouts, ~50 Hz onboard inference inside a ~100 W envelope.