Unitree Robotics · Humanoid World Model VLA

UnifoLM-WLA-1.0

A vision-language-action system for humanoid manipulation pairing a world-model perception module with action generation, at roughly 6B parameters over an embodied-reasoning model built on Qwen3-VL-4B, using optical flow and VQ-VAE for dynamic region prediction and residual vector quantisation for discrete action learning. Trained on about 2,500 hours of real-robot data from Unitree Open Datasets and BitRobot-HIW-500, with a single model covering 64 manipulation tasks across desktop and whole-body settings and both two-finger and dexterous hands. Reports 62.4 on RoboVQA, 55.1 on Ego-Plan2 and 61.7 on RefSpatial-Bench, self-reported. Code, weights and datasets released.