UnifoLM-WLA-1.0
Staged release: announcement + demo video 2026-09-10; UnifoLM-ER-1 / ER-Flow weights 2026-09-11; model modules and training code 2026-09-20; WLA-1.0-Base weights and fine-tuning code 2026-09-28 (GitHub news). HF repo lists Apache-2.0 but the model card was empty at check time. Predecessors: UnifoLM-VLA-0 (see unifolm-vla-0) and UnifoLM-WMA-0 world-model-action (Sept 2025). Benchmark claims ("leading results across multiple embodied reasoning benchmarks") are self-reported.
- Input
- image, text
- Output
- action
- License
- apache-2.0
- Verified
- 2026-09-29
How to call it
| Provider | Model id | Endpoint / URL | Docs |
|---|---|---|---|
| Hugging Face | unitreerobotics/UnifoLM-WLA-1.0-Base | huggingface.co/unitreerobotics/UnifoLM-WLA-1.0-Base | — |
| Hugging Face (embodied reasoner backbones) | unitreerobotics/UnifoLM-ER-Flow | huggingface.co/unitreerobotics/UnifoLM-ER-1 | — |
| GitHub | — | github.com/unitreerobotics/unifolm-wla | docs |
Notable capabilities (2)
- One weight set for tabletop and whole-body humanoid manipulation: 6B-parameter model coordinating 64 tasks across tabletop and whole-body manipulation on Unitree G1, with two-finger grippers and several five-finger dexterous hands. source
- Embodied reasoner + MMDiT action expert: Built on UnifoLM-ER (4B embodied reasoner based on Qwen3-VL-4B; 5M+ embodied reasoning samples) with an MMDiT action expert; ~2,500 h of real-robot data. source
Timeline entry
- Unitree open-sources UnifoLM-WLA-1.0 humanoid foundation model (Apache-2.0) ★★★
Three weeks after its IPO, Unitree announced UnifoLM-WLA-1.0 on 2026-09-10, a 6B humanoid foundation model that runs 64 tabletop and whole-body manipulation tasks on the G1 from one set of weights; reasoner weights, training code and the base model were released under Apache-2.0 between 2026-09-11…