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fix a bug for kwargs in wallx (#2714)

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* support wallx

* fix bugs in flow

* incorporate wallx model into lerobot

* update the policy methods

* reduce to least config and params & pass lerobot basic test

* fixed dtype bugs

* add wallx dependencies

* update

* remove flash-attn requirement && fix bug in inference and fast mode

* fix bug for inference

* add some small modifications

* fix pre-commit errors

* remove lerobot[wallx]

* fix ci

* fix precommit issues

* fix: exclude wallx extra properly in CI workflows

* fix: add uv conflicts for wallx transformers version

* fix: peft test import

* pre-commit

* only export WallXConfig from wall_x package to avoid peft import in CI

* remove torch dep

* precommit

* add import

* update doc files

* fix minor errors

* fix a bug for kwargs

* fix precommit issue

---------

Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: vincentchen <chenlufang@x2robot.com>
Co-authored-by: Geoffrey19 <sympathischmann35@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>
Co-authored-by: geoffrey <geoffrey@x2robot.com>
This commit is contained in:
Tong Wu
2026-01-06 22:13:35 +08:00
committed by GitHub
parent 6106a8136c
commit 603d44434f
2 changed files with 15 additions and 5 deletions
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docs/source/policy_walloss_README.md
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@@ -1,20 +1,30 @@
# WALL-OSS
This repository contains the Hugging Face port of **WALL-OSS**, a Vision-Language-Action model for cross-embodiment robotic control based on Qwen2.5-VL with flow matching/FAST action prediction.
This repository contains the Hugging Face port of [**WALL-OSS**](https://x2robot.com/en/research/68bc2cde8497d7f238dde690), a Vision-Language-Action model for cross-embodiment robotic control based on Qwen2.5-VL with flow matching/FAST action prediction.
---
## Model Overview
| Feature | Description |
| ------------------ | ----------------------------------------------------- | --- |
| ------------------ | ----------------------------------------------------- |
| Base Model | Qwen2.5-VL (Vision-Language Model) |
| Action Prediction | Flow Matching (diffusion) or FAST (discrete tokens) |
| Architecture | Mixture of Experts (MoE) with action-specific routing | |
| Architecture | Mixture of Experts (MoE) with action-specific routing |
| Multi-Modal Inputs | Vision (images/videos), Language, Proprioception |
---
## Additional Resources
Paper: https://arxiv.org/pdf/2509.11766
Official Repository: https://github.com/X-Square-Robot/wall-x
Hugging Face: https://huggingface.co/x-square-robot
---
## Citation
If you use this work, please cite:
@@ -32,4 +42,4 @@ If you use this work, please cite:
## License
This port follows the **Apache 2.0 License**.
This model follows the **Apache 2.0 License**, consistent with the original [WallX repository](https://github.com/X-Square-Robot/wall-x).
src/lerobot/policies/wall_x/modeling_wall_x.py
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@@ -1697,7 +1697,7 @@ class WallXPolicy(PreTrainedPolicy):
config_class = WallXConfig
name = "wall_x"
def __init__(self, config: WallXConfig):
def __init__(self, config: WallXConfig, **kwargs):
super().__init__(config)
config.validate_features()
self.config = config