File size: 1,665 Bytes
8ab16f2 f243705 8ab16f2 f243705 8ab16f2 ccf358d 8ab16f2 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 |
# UnifoLM-WMA-0: A World-Model-Action (WMA) Framework under UnifoLM Family
<div align="justify">
<b>UnifoLM-WMA-0</b> is Unitree‘s first open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning. Its core component is a world-model capable of understanding the physical interactions between robots and the environments. This world-model provides two key functions: (a) <b>Simulation Engine</b> – operates as an interactive simulator to generate synthetic data for robot learning; (b) <b>Policy Enhancement</b> – connects with an action head and, by predicting future interaction processes with the world-model, further optimizes decision-making performance.
</div>
## 🦾 Real Robot Deployment
| <img src="assets/real_z1_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_dual_stackbox.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |
|:---:|:---:|
| <img src="assets/real_cleanup_pencils.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> | <img src="assets/real_g1_pack_camera.gif" style="border:none;box-shadow:none;margin:0;padding:0;" /> |
**Note: the top-right window shows the world model’s prediction of future environmental changes.**
## License
The model is released under the CC BY-NC-SA 4.0 license as found in the [LICENSE](https://huggingface.co/unitreerobotics/UnifoLM-WMA-0/blob/main/LICENSE). You are responsible for ensuring that your use of Unitree AI Models complies with all applicable laws.
## Model Architecture
|