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@@ -30,9 +30,10 @@ By creating a direct feedback loop between the model's decisions and the body's
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 4B model that delivers directly deployable, zero-shot real-robot manipulation capabilities while serving as a powerful prior for downstream adaptation *(Code coming soon!)*. - [May 2026] We introduce [**WALL-WM: Carving World Action Modeling at the Event Joints**](https://x2robot.com/api/files/file/WALL-WM.pdf), a World Action Model that couples future-video imagination with action prediction at their semantic event boundaries, delivering state-of-the-art real-robot manipulation and physically grounded video generation from a single event-pretrained backbone *(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. - [May 2026] 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 4B model that delivers directly deployable, zero-shot real-robot manipulation capabilities while serving as a powerful prior for downstream adaptation *(Code coming soon!)*.
- [Sept 2025] 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-0.5: https://huggingface.co/x-square-robot/wall-oss-0.5