# UnifoLM, brain

Unitree Robotics' open-source unified-large-model series for general-purpose robot learning — comprising UnifoLM-WMA-0 (world-model–action) and UnifoLM-VLA-0 (vision–language–action). Unitree's G1 humanoid integrates UnifoLM-WMA-0.

- **Slug:** unifolm
- **Type:** World model
- **Maturity (DEPLOY ladder):** Research
- **Open source:** yes

## Architecture

Unitree's open-source unified-large-model series for general-purpose robot learning across multiple embodiments. UnifoLM-WMA-0 (world-model–action): a world model of robot–environment physical interaction, used both as a simulation engine for synthetic data and as a policy-enhancement head that predicts future environmental states (video prediction translated into limb actions). UnifoLM-VLA-0 (vision–language–action): a VLA for general-purpose humanoid manipulation, built on a UnifoLM-VLM base. Open-sourced on Unitree's GitHub (WMA-0 Sept 2025; VLA-0 Jan 2026).


## Key facts

- **Open-source:** UnifoLM-WMA-0 (world-model-action) open-sourced Sept 2025; UnifoLM-VLA-0 (vision-language-action, code+weights) Jan 29, 2026 — on Unitree's official GitHub.
- **Powers (verified):** Unitree G1 integrates UnifoLM-WMA-0 (vision+language+action), per Yicai Global (Sept 16, 2025); G1 is the named real-robot platform for UnifoLM-VLA-0.
- **Series:** UnifoLM-WMA-0 (world-model–action) + UnifoLM-VLA-0 (vision–language–action); designed for multiple robotic embodiments / general-purpose robot learning.
- **Wiring scope:** Wired to G1 only. R1 and H1 left unwired — no primary source names them as UnifoLM platforms (honest absence over inferred presence).
- **DEPLOY maturity rationale:** Open-source research release powering research-tier G1; classified research (brain), not commercial.


## Developed by (1)

- [Unitree Robotics](/companies/unitree-robotics.md)


## Powers (2)

- [Unitree G1](/models/unitree-g1.md) (Unitree Robotics)
- [Unitree R1](/models/unitree-r1.md) (Unitree Robotics)


## Sources (3)

1. **UnifoLM-WMA-0 — Unitree's open-source world-model–action architecture (multi-embodiment, general-purpose robot learning)** · https://github.com/unitreerobotics/unifolm-world-model-action
2. **UnifoLM-VLA-0 — Vision–Language–Action large model in the UnifoLM series; G1 named as the real-robot platform (code+weights Jan 29, 2026)** · https://github.com/unitreerobotics/unifolm-vla
3. **China's Unitree Open-Sources World Model — confirms G1 integrates UnifoLM-WMA-0 (vision+language+action); WMA-0 open-sourced Sept 2025** · https://www.yicaiglobal.com/news/chinas-unitree-open-sources-world-model-to-advance-robotics-ecosystem · 2025-09-16


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