38 lines
2.2 KiB
Markdown
38 lines
2.2 KiB
Markdown
---
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tags:
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- robotics
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---
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# UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family
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<p style="font-size: 1.2em;">
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<a href="https://unigen-x.github.io/unifolm-world-model-action.github.io"><strong>Project Page</strong></a> |
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<a href="https://github.com/unitreerobotics/unifolm-world-model-action"><strong>Code</strong></a> |
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<a href="https://huggingface.co/unitreerobotics/datasets"><strong>Dataset</strong></a>
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</p>
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<div align="center">
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<div align="justify">
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<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.
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</div>
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</div>
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## 🦾 Real Robot Deployment
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| <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;" /> |
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|:---:|:---:|
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| <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;" /> |
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**Note: the top-right window shows the world model’s prediction of future environmental changes.**
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## License
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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.
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## Model Architecture
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## Citation
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```
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@misc{unifolm-wma-0,
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author = {Unitree},
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title = {UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family},
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year = {2025},
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}
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``` |