xpeng-robotics/VLA-UniT-checkpoints

UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling

Official VLA-UniT checkpoints accompanying the UniT paper.

Authors: Boyu Chen, Yi Chen, Lu Qiu, Jerry Bai, Yuying Ge, and Yixiao Ge.

Paper · Project page · Code and usage · Download BibTeX

Citation

Please cite the UniT paper when using these checkpoints.

@article{chen2026unit,
  title={{UniT}: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling},
  author={Chen, Boyu and Chen, Yi and Qiu, Lu and Bai, Jerry and Ge, Yuying and Ge, Yixiao},
  journal={arXiv preprint arXiv:2604.19734},
  year={2026},
  eprint={2604.19734},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  doi={10.48550/arXiv.2604.19734},
  url={https://arxiv.org/abs/2604.19734}
}