Optimus Gen 2

Optimus Gen 2 was unveiled by Musk in a demo video posted on X on December 12, 2023, and is the second generation of Tesla's humanoid robot. The key upgrades according to the official summary: 10 kg lighter (from 73 kg in the first generation to about 63 kg), a 30% faster walking speed, Tesla-designed actuators and sensors, a new 2-DOF neck, 11 DOF per hand with tactile sensing on every finger, added foot force/torque sensing, improved foot geometry and articulated toes.

This version continues the first generation's FSD pure-vision approach: an end-to-end neural network generates control commands directly from video input; by September 2023 it had demonstrated autonomous visual sorting and one-legged yoga. The Gen 2 demo video showed deep squats, one-legged yoga, egg pinching and other fine manipulation, and Tesla engineers said the video contained no CGI and no speed-up.

Gen 2 was mainly used for Tesla's internal testing and demonstrations (the unit that interacted with the audience at the October 2024 We, Robot event was an iteration of it). Tesla said limited production would begin in 2025, and it was ultimately superseded by Optimus Gen 3, which entered mass production in 2026.