---
tags:
- robotics
---

# UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family
<p style="font-size: 1.2em;">
    <a href="https://unigen-x.github.io/unifolm-world-model-action.github.io"><strong>Project Page</strong></a> | 
    <a href="https://github.com/unitreerobotics/unifolm-world-model-action"><strong>Code</strong></a> | 
    <a href="https://huggingface.co/unitreerobotics/datasets"><strong>Dataset</strong></a> 
  </p>
<div align="center">
  <div align="justify">
    <b>UnifoLM-WMA-0</b> is Unitree‘s first open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning. Its core component is a world-model capable of understanding the physical interactions between robots and the environments. This world-model provides two key functions: (a) <b>Simulation Engine</b> – operates as an interactive simulator to generate synthetic data for robot learning; (b) <b>Policy Enhancement</b> – connects with an action head and, by predicting future interaction processes with the world-model, further optimizes decision-making performance.
  </div>
</div>

## 🦾 Real Robot Deployment
| <img src="assets/real_z1_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_dual_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |
|:---:|:---:|
| <img src="assets/real_cleanup_pencils.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_g1_pack_camera.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |

**Note: the top-right window shows the world model’s prediction of future environmental changes.**

## License
The model is released under the CC BY-NC-SA 4.0 license as found in the [LICENSE](https://huggingface.co/unitreerobotics/UnifoLM-WMA-0/blob/main/LICENSE). You are responsible for ensuring that your use of Unitree AI Models complies with all applicable laws.

## Model Architecture
![Demo](assets/world_model_interaction.gif)

## Citation
```
@misc{unifolm-wma-0,
  author = {Unitree},
  title  = {UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family},
  year   = {2025},
}
```