End-to-End Platform
for Humanoid Robot
Data & Training

Core Components

  • High-Performance Humanoid Robot

    Multiple proprietary humanoid embodiments, featuring in-house actuators, gearboxes, encoders, and sensors.

  • Streamlined Data Acquisition Tools

    A unified platform for the complete data pipeline: acquisition, processing, labeling, review, and data asset management.

  • Comprehensive Model Training & Inference Tools

    Enables distributed training, custom model development, and seamless deployment, with full support for all major open-source frameworks.

  • Higher-DOF Robot Platform
    Total Degrees of Freedom

    Robot DOF (Excl. End-Effector):

    19

    Arm Degrees of Freedom:

    7×2

    Waist Degrees of Freedom:

    2

    Column Degrees of Freedom:

    1

    Base Degrees of Freedom:

    2

  • Expanded Operational Workspace
  • Lower-Latency Control Response

Streamlined Data Acquisition Tools

Streamline data collection and reduce costs with flexible, standardized workflows — moving beyond traditional manual processes.

  • Visual Template Management for Efficient Collection

    Integrating project management, task allocation, progress tracking, and status analysis into a unified platform. With templated configurations, data collection tasks can be generated with one click. Real-time tracking of the entire workflow ensures smoother collaboration and more efficient data acquisition.

  • Flexible Configurations with Diverse Platforms & End Effectors

    The system supports data collection across various robot platforms and end-effector configurations. Its robust data standardization capability enables end-to-end processing from diverse devices to high-quality model training data.

  • High-Concurrency Architecture for Scalable Operations

    Equipped with the technical capability to support hundreds of robots performing synchronous data collection. Through high-concurrency architecture and load-balanced scheduling, the platform ensures real-time reception and processing of massive data streams.

  • 24/7 Online Collection, Stable and Reliable

    Built on a highly available service architecture, the platform enables reliable 24/7 data collection. With extensive format compatibility, collected data can be directly output or converted into mainstream training formats, accelerating R&D efficiency.

Data Acquisition Pipeline
  • 1

    Creating New Collection Tasks

  • 2

    Task Editing and Assignment

  • 3

    Data Acquisition and Annotation

  • 4

    Data Upload and Review

  • 5

    Data Storage

  • 6

    Data Export

Comprehensive Model Training & Inference Tools

It supports an end-to-end workflow from data processing to one-click model deployment.The platform seamlessly integrates a variety of mainstream open-source robotic model frameworks.

  • Rich Ecosystem with Mainstream Model Support

    An open model ecosystem is established, featuring built-in community datasets and support for open-source dataset training. It offers deep integration with leading open-source models such as PI and GROOT.

  • Simulation Environment for Model Evaluation

    Includes a high-fidelity, high-precision 3D asset library. By constructing realistic simulation environments, it rapidly generates comprehensive evaluation schemes to support algorithm validation.

  • User-Friendly Design for Rapid Deployment

    Fully deployable out-of-the-box, minimizing setup time.minimizing setup time. Launch model development instantly via "one-click training," leverage integrated simulation tools for reliable evaluation, and achieve seamless migration from algorithms to real-world machines.

  • Distributed Training for High Efficiency

    Built on a high-performance distributed training architecture, the platform enables elastic scheduling of computing tasks and parallel acceleration. It dynamically scales based on workload resources, achieving up to 90% GPU utilization.

Training and Inference Pipeline
  • 1

    Model Architecture Selection

  • 2

    Training Configuration

  • 3

    Real-Time Monitoring

  • 4

    Parameter Editing

  • 5

    Simulation Testing

  • 6

    Model Export & Deployment

Application scenario
  • Service

  • Life

  • Retail

  • Industry

UnifoLM-WMA-0:
A World-Model-Action (WMA) Framework
UnifoLM-WMA-0 is Unitree‘s 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. 
  • Decision-Making Mode:

    Action Generation Powered by Precise Prediction

    By analyzing the current environmental state and task objectives, the system accurately predicts future physical interactions between the robot and its surroundings. These predictive insights directly assist the policy module in generating actions, effectively reducing decision errors while optimizing the accuracy and rationality of motion execution.

  • Simulation Mode:

    High-Fidelity Feedback for Data Generation

    Operates as an interactive simulator capable of generating high-fidelity environmental feedback based on robot motion inputs. By producing high-quality synthetic data, it provides a rich data source for model training and policy optimization, significantly accelerating the learning process.

Product Parameters

Mechanical Dimensions
  • Model

    G1-D(Standard)

    G1-D(Flagship)

  • Overall Dimensions(Min. Column Height)

    1260x500x500mm

    1260x525x570mm

  • Overall Dimensions(Max. Column Height)

    1680x500x500mm

    1680x525x570mm

  • Total Weight (incl. battery)

    Approx. 50kg

    Approx. 80kg

  • Total DOF (excl. End Effector)

    17

    19

  • Single Arm DOF (excl. End Effector)

    7

    7

  • Max. Single Arm Payload【1】

    Approx. 3kg

    Approx. 3kg

  • End Effector Options【2】

    Optional 2-Finger Gripper / 3-Finger Dexterous Hand (No Tactile) /

    3-Finger Dexterous Hand (With Tactile) / 5-Finger Dexterous Hand

    Optional 2-Finger Gripper / 3-Finger Dexterous Hand (No Tactile) /

    3-Finger Dexterous Hand (With Tactile) / 5-Finger Dexterous Hand

  • Waist DOF

    2

    2

  • Waist Joint Range of Motion

    Z-axis: ±155°, Y-axis: -2.5° to +135°

    Z-axis: ±155°, Y-axis: -2.5° to +135°

  • Column Lifting Speed

    Approx. 60mm/s

    Approx. 60mm/s

Baseplate
  • Maximum Mobility Speed

    /

    1.5m/s

  • Chassis Drive Type

    /

    Differential drive, supports 360° in-place rotation

  • Chassis Sensors

    /

    LiDAR *1 + Depth Camera *2

    + Physical Collision Sensor *2

    + Low-Obstacle Detection Sensor *2

Electrical Characteristics
  • Basic Computing Power

    8-core High-performance CPU

    8-core High-performance CPU

  • Perception Sensors

    Head HD Binocular Camera *1 + Wrist HD Camera *2

    Head HD Binocular Camera *1 + Wrist HD Camera *2

  • Wi-Fi 6, Bluetooth 5.2

    Yes

    Yes

Accessories
  • High Computing Power Module

    NVIDIA Jetson Orin NX 16GB(100TOPS)

    NVIDIA Jetson Orin NX 16GB(100TOPS)

  • Battery

    Upper Body Battery(Quick-release): 9Ah

    Chassis Battery (Built-in): 30Ah

  • Manual Controller

    Yes

    Yes

  • Visualization Computer

    Yes

    Yes

Other
  • Battery Life

    Approx. 2 hours

    Approx. 6 hours

  • Upgraded Intelligent OTA

    Yes

    Yes

  • Secondary Development【3】

    Yes

    Yes

[1]

The maximum load of the arm varies greatly under different arm extension postures.

[2]

For end-effector selection, please contact our sales team.

[3]

For more information, please read the secondary development manual.

[4]

For more detailed warranty terms, please read the product warranty brochure.

[5]

The above parameters may vary in different scenarios and configurations, please subject to actual situation.

[6]

The humanoid robot has a complex structure and extremely powerful power. Users are asked to keep a sufficient safe distance between the humanoid robot and people.Please use with caution

[7]

If any change in the appearance of the product, please refer to the actual product.

[8]

Some sample functions on this page are still being developed and tested, and will be opened to users in the future.

This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

Please visit Unitree Robotics Website for more related terms and policies, and comply with local laws and regulations.