Elf-Xuan 2.0 by AheadForm vs Moya by DroidUp

Moya walks at about 3 km/h with a human-like gait and stable posture on flat floors. Elf-Xuan 2.0 does not walk at all; it is a stationary upper-body platform, so it suits a reception desk or exhibition stand rather than moving around a building. Moya reaches 0.83 m/s. Moya's mobility type is legged. Moya navigates with visual SLAM and indoor SLAM. Elf-Xuan 2.0 has 30 degrees of freedom and can deadlift 1–2 kg. Moya stands 165 cm tall and weighs 32 kg. Moya's safety features include force limiting, collision detection, emergency stop and collaborative mode.

Moya has more than 40 degrees of freedom across its body and head and can use its arms for simple tasks. Elf-Xuan 2.0 puts most of its movement into its face, with version 2.0 adding articulated arms for gestures; it is built for expression rather than handling objects. Moya's sensors include RGB cameras, stereo cameras and force sensors. Moya's listed uses include elder care companionship, educational tutoring, commercial customer service and healthcare assistance. Moya's control method is listed as autonomous, teleoperation, learned behaviors. Elf-Xuan 2.0 is listed as semi-autonomous to fully autonomous. Moya is listed as highly Autonomous with Teleoperation support.

Moya runs DroidUp's embodied AI to perceive, reason and act in physical spaces, and it supports teleoperation. AheadForm focuses Elf-Xuan 2.0's intelligence on face-to-face interaction, using its expressive face to make conversations feel natural; it has not published details of its AI stack. Moya runs for 4 hours per charge and recharges in 3 hours. Moya's body is made from aluminum frame and soft skin composites. Per the record, Elf-Xuan 2.0 is listed as semi-autonomous to fully autonomous. Per the record, Moya is listed as highly Autonomous with Teleoperation support.

Neither robot is made for lifting. Moya carries about 2 kg per arm and up to 10 kg in total, while Elf-Xuan 2.0 handles only light objects of about 1 to 2 kg. Per the record, Elf-Xuan 2.0 has 30 degrees of freedom and can deadlift 1–2 kg. Per the record, Moya stands 165 cm tall and weighs 32 kg. Per the record, Moya runs for 4 hours per charge and recharges in 3 hours. Per the record, Moya's safety features include force limiting, collision detection, emergency stop and collaborative mode.

Moya runs for about 4 hours on a 1 kWh battery and recharges in 3 hours. AheadForm has not published power details for Elf-Xuan 2.0, which works from a fixed position. For reference, Elf-Xuan 2.0 has 30 degrees of freedom and can deadlift 1–2 kg. For reference, Moya stands 165 cm tall and weighs 32 kg. For reference, Moya's safety features include force limiting, collision detection, emergency stop and collaborative mode. Per the record, Moya's sensors include RGB cameras, stereo cameras and force sensors.

Moya targets general-purpose social roles: elder-care companionship, tutoring, customer service and healthcare assistance. Elf-Xuan 2.0 targets lifelike interaction at reception desks, exhibitions and in human-robot interaction research. Neither is designed for factory work. Per the record, Moya's listed uses include elder care companionship, educational tutoring, commercial customer service and healthcare assistance. For reference, Moya runs for 4 hours per charge and recharges in 3 hours. For reference, Moya's sensors include RGB cameras, stereo cameras and force sensors. Per the record, Moya reaches 0.83 m/s.

Both robots are built around faces. Elf-Xuan 2.0's face uses a very high number of degrees of freedom for fluid, asymmetrical expressions, and Moya combines micro-expressions such as smiling and winking with a warm body temperature and a walking body. For reference, Moya's listed uses include elder care companionship, educational tutoring, commercial customer service and healthcare assistance. For reference, Moya reaches 0.83 m/s. Per the record, Moya's mobility type is legged. Per the record, Moya navigates with visual SLAM and indoor SLAM. Per the record, Moya's control method is listed as autonomous, teleoperation, learned behaviors.

Neither robot is designed for industrial manufacturing. Moya carries only light loads, and Elf-Xuan 2.0 is a stationary interaction platform; an industrial humanoid with payload and factory deployments would be a better fit. For reference, Moya's mobility type is legged. For reference, Moya navigates with visual SLAM and indoor SLAM. For reference, Moya's control method is listed as autonomous, teleoperation, learned behaviors. For reference, Elf-Xuan 2.0 is listed as semi-autonomous to fully autonomous. For reference, Moya is listed as highly Autonomous with Teleoperation support.

Moya is the more dexterous of the two for physical tasks, with articulated arms and more than 40 degrees of freedom across its body. Elf-Xuan 2.0's dexterity is in its face rather than its hands. Elf-Xuan 2.0 concentrates 30 degrees of freedom in facial expression, the head, the neck and the upper body. Elf-Xuan 2.0 is stationary and is listed for lifelike face-to-face interaction in research, exhibitions and service roles. The record lists Elf-Xuan 2.0 as semi-autonomous to fully autonomous. Moya walks on two legs.