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This repository provides the training and inference code that supports our WALL series open-source embodied foundation models. It includes end-to-end pipelines for data preparation (LeRobot), model configuration, flow-matching and FAST action branches, and evaluation utilities for real and simulated robots. This repository provides the training and inference code that supports our WALL series open-source embodied foundation models. It includes end-to-end pipelines for data preparation (LeRobot), model configuration, flow-matching and FAST action branches, and evaluation utilities for real and simulated robots.
## News ## News
## News
- We introduce [**Wall-OSS-0.5: A Deployment-Ready VLA with Gradient-Bridged Pretraining**](https://x2robot.com/api/files/file/wall_oss_05.pdf), an open-source 3B model that delivers directly deployable, zero-shot real-robot manipulation capabilities while serving as a powerful prior for downstream adaptation *(Code coming soon!)*.
- We introduce [**WALL-OSS: Igniting VLMs toward the Embodied Space**](https://x2robot.com/en/research/68bc2cde8497d7f238dde690), an end-to-end embodied foundation model that leverages large-scale multimodal pretraining to achieve (1) embodiment-aware vision–language understanding, (2) strong language–action association, and (3) robust manipulation capability. - We introduce [**WALL-OSS: Igniting VLMs toward the Embodied Space**](https://x2robot.com/en/research/68bc2cde8497d7f238dde690), an end-to-end embodied foundation model that leverages large-scale multimodal pretraining to achieve (1) embodiment-aware vision–language understanding, (2) strong language–action association, and (3) robust manipulation capability.
## Models ## Models
- WALL-OSS-0.5: https://huggingface.co/x-square-robot/wall-oss-0.5
- WALL-OSS-FLOW-0.1: https://huggingface.co/x-square-robot/wall-oss-flow-0.1
- WALL-OSS-FLOW: https://huggingface.co/x-square-robot/wall-oss-flow - WALL-OSS-FLOW: https://huggingface.co/x-square-robot/wall-oss-flow
- WALL-OSS-FAST: https://huggingface.co/x-square-robot/wall-oss-fast - WALL-OSS-FAST: https://huggingface.co/x-square-robot/wall-oss-fast