---
license: apache-2.0
tags: []
tasks:
- robotics
---

### Paper

[Hugging Face Papers: 2610.02054](https://huggingface.co/papers/2610.02054)

UniWAM is an 8B-parameter model that brings semantic understanding, visual prediction, and action generation into one MoT architecture. Its three experts exchange information through joint multimodal attention. During pretraining, physical-language supervision and complementary signals from robot, human egocentric, and VQA data build embodied knowledge. During post-training, future visual noise augmentation reduces reliance on precise future predictions, while encoded action history initializes action generation through flow matching.