Knowledge / UnifoLM: Unified Robot Large Model
UnifoLM: Unified Robot Large Model
Unitree’s family of foundation models, with links to the G1 page, GitHub and Hugging Face.
Status: a model family described on the G1 page and published on GitHub and Hugging Face.
UnifoLM (Unitree’s spelling, short for Unified Robot Large Model) is named on the G1 page as a robot world model. It is a family of large foundation models, not a robot.
- UnifoLM-WLA-1.0: open source (Apache-2.0), approx. 6 billion parameters, approx. 2,500 h of real-robot data, coordination of 64 tabletop and whole-body tasks (according to the repository and project page). github.com/unitreerobotics/unifolm-wla
- Earlier models in the family: UnifoLM-VLA-0, UnifoLM-WMA-0.
- Models and datasets: Hugging Face collection.
Running these models on a specific robot takes a team with machine learning and robotics experience.
Imitation learning (unitree_lerobot)
Sources: unitree.com/g1, GitHub repositories unitreerobotics/unifolm-*, UnifoLM-WLA project page. Read 23 Oct 2026.