DexForce / UNITAS

Unitas: A 3D-Native World Action Model for Embodied Manipulation 
 Ruixiang Wang 1,2* ,   Yongyi Su 3*† ,   Wenlve Zhou 3 ,   Bo Yue 1,2 ,   Hengyan Liu 1,2 ,   Dekun Lu 2 
 Yuxin Tian 1,2 ,   Yihan Fang 1,2 ,   Zerui Wu 2 ,   Xing Hu 2 ,   Jietao Chen 2 ,   Yong Guo 2 
 Ziyan He 2 ,   Junbin Yuan 4 ,   Guiliang Liu 1 ,   Xiaofen Xing 5 ,   Kui Jia 1,2 
 1 CUHK-SZ   2 DexForce   3 FSU   4 SYSU   5 SCUT   ·  
 * Equal contribution   † Correspondence to <suyongyi@fosu.edu.cn>
**UNITAS** is a 3D-native world action model for embodied manipulation. It unifies observations, actions, and scene dynamics in a shared metric 3D frame within each interaction, using a common representation across robot embodiments and human hands.
### Highlights
- **One physical space.** Observations, actions, and scene dynamics share a metric 3D world-coordinate frame.
- **A common motion representation.** Point trajectories represent robot motion, human hand motion, and scene dynamics.
- **Complementary capabilities.** The framework supports robot-action generation and action-conditioned scene prediction.
- **Paper results with 1.7B parameters.** Success rates reach **99.8%** on LIBERO, **89.1%** on LIBERO-Plus, **56.2%** on VLABench, and **92.94% / 93.04%** on RoboTwin Clean / Randomized. Moving ADE is **35% lower** than PointWorld on RoboTwin scene prediction.
## Release status
- [x] Model checkpoints
- [x] Inference and evaluation code
- [ ] Training code
- [ ] Training dataset
## Installation
Clone this repo and set up the environment with a few commands:
 [code] 
Optional FlashAttention 2 (requires a compatible CUDA toolkit):
 [code] bash
python src/unitas/scene_flow/inference.py \
 --checkpoint checkpoints/unitas_scene_flow.pt \
 --florence-dir checkpoints/Florence-2-large \
 --input assets/scene_flow/observations/robotwin_7c59d8eb33_0088.npz \
 --output outputs/scene_flow.npz
python src/unitas/scene_flow/visualize.py --input outputs/scene_flow.npz --port 8080
 [code] bibtex
@misc{wang2026unitas3dnativeworldaction,
 title={UNITAS: A 3D-Native World Action Model for Embodied Manipulation},
 author={Ruixiang Wang and Yongyi Su and Wenlve Zhou and Bo Yue and Hengyan Liu and Dekun Lu and Yuxin Tian and Yihan Fang and Zerui Wu and Xing Hu and Jietao Chen and Yong Guo and Ziyan He and Junbin Yuan and Guiliang Liu and Xiaofen Xing and Kui Jia},
 year={2026},
 eprint={2610.12099},
 archivePrefix={arXiv},
 primaryClass={cs.RO},
 url={https://arxiv.org/abs/2610.12099},
}
```