UnifoLM-WLA-1.0 is Unitree Robotics' comprehensively upgraded, next-generation general-purpose humanoid robot foundation model with 6B parameters. Built on large-scale general multimodal perception and understanding data and interaction-centric world modeling, it substantially advances spatial perception and understanding, achieving leading results across multiple embodied reasoning benchmarks. Trained on approximately 2,500 hours of high-quality real-robot data, a single model coordinates 64 tasks spanning desktop manipulation and whole-body manipulation. It supports two-finger grippers and multiple five-finger dexterous hands, with strong generalization across tasks and end effectors.
- News
- Open-Source Plan
- Robot Action, State, and Statistics Processing Specification
- Train and Evaluate an Action Expert
- Citation
- Acknowledgements
- License
- Sep 28, 2026: 🚀 we released the UnifoLM-WLA-1.0-Base and fine-tuning code.
- Sep 20, 2026: 🚀 we released the model modules and training action expert code
- Sep 11, 2026: 🚀 we released the model weights of UnifoLM-ER-1
- Sep 11, 2026: 🚀 we released the model weights of UnifoLM-ER-Flow
- Code
- Models
- Datasets
@misc{unifolm-wla-1.0,
author = {Unitree},
title = {UnifoLM-WLA-1.0: One Model Driven, Whole-Body Coordination},
year = {2026},
}This project is built upon and continues the work of starVLA and Qwen-Image. We sincerely thank their authors and contributors for making their work publicly available.
Except where otherwise noted, this project is released under the Apache License 2.0. Third-party components remain subject to their original licenses. See NOTICE and THIRD_PARTY_LICENSES.md for attribution and details.