Seven generations have been built. Toyota treats the project as an evolving research platform rather than a fixed product, so dimensions, control approach and locomotion have all changed between generations. Where a figure is known, CUE7 (April 2026) and CUE6 (December 2022 / September 2024 record) are shown side-by-side. Earlier generations are summarised where data was published.
Physical Dimensions
Height
218 cm (CUE7)
Weight
74 kg (CUE7) / ~120 kg (CUE6)
Frame
Metal frame, reported aluminium alloy (CUE7)
Arm
Right arm re-engineered for extra throwing strength (CUE6); ~350 wires integrated to support long-shot motion
End effector
Simplified 2–3 finger gripper optimised for ball release (CUE7)
Locomotion
CUE1–CUE2
Seated / tethered static shooting platform (2018)
CUE3
Standalone, standing posture (2019)
CUE4
Skate-style wheeled undercarriage for on-court movement (2019)
CUE5
Wheeled base with internal battery space for dribbling demos (2021)
CUE6
Fixed shooting stance for long-range Guinness attempt (2022–2024)
CUE7
Inverted two-wheel dynamically balancing base (April 2026)
Control System & AI
CUE7 Control Stack
Hybrid reinforcement learning + model predictive control for dynamic shooting motion
CUE6 Control Stack
AI based on robot structure; learned throwing style optimised for long distance (per project lead Tomohiro Nomi)
Adaptive Shooting
Adjusts aim, posture, arm position and shot strength in real time based on feedback
Development AI
Learns from errors across practice sessions; iterative self-correction across shooting attempts
Sensing & Vision
Primary Vision
Camera-based target detection and distance estimation
CUE6 Additions
Foot-mounted cameras to track ball movement and positioning
CUE7 Perception
Integrated perception + motion control; basket detection drives aim rather than fixed-position shooting
Capabilities
Free-throw shooting
All generations
Long-range shooting
From three-point range (CUE3) up to 24.55 m (CUE6 record)
Dribbling
Introduced in CUE5 (2021)
Autonomous grasp + shoot
Introduced in CUE4 (2019)
Multi-generation best distance
24.55 m (CUE6, 26 September 2024, Nagakute, Aichi, Japan)
Guinness World Records
Most consecutive free throws (assisted, by a humanoid)
2,020 — CUE3, April 2019 (6 h 35 min)
Farthest basketball shot by a humanoid robot
24.55 m — CUE6, September 2024
Open target (team-stated ambition)
Human record 34.60 m (Joshua Walker, July 2022)
Pricing & Availability
Retail Price
Not for sale (research prototype); third-party aggregator humanoid.guide lists a speculative figure of around US$150,000 per unit
Availability
Research unit; appears at public demonstrations, B.League games and Guinness attempts
Partnerships
Registered with B.League club Alvark Tokyo from CUE4 (jersey #94)
Open-Source
No — software and hardware are internal to Toyota / TES
Disclaimer: Spec data is compiled from Toyota publications, technical press, and third-party aggregators. Because CUE is a research platform, figures often apply only to a specific generation or demonstration configuration rather than a fixed production unit. Pricing shown is speculative third-party estimation; the robot is not sold commercially. Some content on this page was created with the assistance of AI tools.