UnifoLM-WMA-0
- AI model
- Humanoids and robot learning
UnifoLM-WMA-0 is Unitree's open-source world-model and action framework for general-purpose robot learning across several robot types. It can simulate robot interactions and enhance policy decisions.
- Non-commercial
- Non-commercial weights
Made by Unitree Robotics, China (checked on github.com/unitreerobotics (opens in a new tab)).
Source on GitHub: github.com/unitreerobotics/unifolm-world-model-action (opens in a new tab). Facts read at commit 3e198de (opens in a new tab).
Licenses
- Code
- CC-BY-NC-SA-4.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (CC-BY-NC-SA-4.0) at commit 3e198de (opens in a new tab), on 16 Oct 2026.
- Weights
- CC-BY-NC-SA-4.0 (opens in a new tab)
Read on huggingface.co/unitreerobotics/UnifoLM-WMA-0-Base (opens in a new tab).
- Commercial use
- No
The code and weights licenses do not allow commercial use.
Labels
- Non-commercialThe code license (CC-BY-NC-SA-4.0) does not allow commercial use.
- Non-commercial weightsThe weights license (CC-BY-NC-SA-4.0) does not allow commercial use.
What it does
- Its core is a world model that learns physical interactions between robots and their environments.
- In simulation mode it acts as an interactive simulator that generates synthetic data for robot learning.
- In decision-making mode it pairs with an action head and predicts future interactions to improve action choices.
- Provides training and inference code, plus model checkpoints (Base and Dual) on Hugging Face.
- Includes scripts to convert LeRobot V2.1 datasets and to train on custom data.
- Supports server-side inference with a robot client that queries actions over an SSH tunnel for real Unitree robots.
Written by Robotheca from the project's README (opens in a new tab) at commit 3e198de.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 18 Mar 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists AI models as a reference: nothing is hosted or run here, and every fact links to where it was read.