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# Wall-X
## Overview
<div align="left">
Wall-X is a multimodal foundation model designed for robotics applications, combining vision, language, and action capabilities. The model architecture is built upon Qwen2.5-3B-VL with specialized adaptations for robotic control tasks.
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<a href="https://huggingface.co/x-square-robot">
<img src="https://img.shields.io/badge/Hugging%20Face-x--square--robot-FFB000?style=for-the-badge&logo=huggingface&logoColor=000" alt="Hugging Face">
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<a href="https://x2robot.com/en/research/68bc2cde8497d7f238dde690">
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<br/>
<img src="https://img.shields.io/badge/Python-3.10-3776AB?style=flat&logo=python&logoColor=fff" alt="Python 3.10">
<img src="https://img.shields.io/badge/PyTorch-EE4C2C?style=flat&logo=pytorch&logoColor=fff" alt="PyTorch">
<img src="https://img.shields.io/badge/FlashAttention-0F9D58?style=flat&logo=nvidia&logoColor=fff" alt="FlashAttention">
<img src="https://img.shields.io/badge/LeRobot-222?style=flat&logo=huggingface&logoColor=ffd21e" alt="LeRobot">
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</div>
## Building General-Purpose Robots Based on Embodied Foundation Model
We are building the embodied foundation model to capture and compress the world's most valuable data: the continuous, high-fidelity stream of physical interaction.
By creating a direct feedback loop between the model's decisions and the body's lived experience, we enable the emergence of a truly generalizable intelligence—one that understands not just how the world works, but how to act effectively within it.
## Repository
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
- We introduce [**WALL-OSS**](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
- WALL-OSS-FLOW: https://huggingface.co/x-square-robot/wall-oss-flow
- WALL-OSS-FAST: https://huggingface.co/x-square-robot/wall-oss-fast
## Environment Setup
@@ -66,4 +98,4 @@ To generate an open-loop comparison plot, please follow:
```bash
python ./scripts/draw_openloop_plot.py
```
```