I think it is a 2-DOF ankle. The left-right movement might be passive. I see the round disk that is an obvious joint, but the disk has a little clearance relative to the foot.
I am also wondering how they fit the actuators in there, but as you reduce the height of a humanoid, you dramatically reduce the power requirements at each joint. I think power is proportional to the 3rd power of the height.
What I don’t understand is how it is dynamically stable. The stance is so wide it would have to rock sideways to walk.
In any case, the ankles are 20DOF but with very limited range on the left-right axis and likely not powered.
Also, the video is edited. We only see closeups of upper body movements, and I would not be surprised if the feet were secured to the floor while the robot played back pre-recorded motion. I also doubt the $1,400 price.