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Merge branch 'main' into feature/add-multitask-dit

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Pepijn
2026-01-06 16:00:12 +01:00
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docs/source/policy_walloss_README.md
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# WALL-OSS # 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 ## Model Overview
| Feature | Description | | Feature | Description |
| ------------------ | ----------------------------------------------------- | --- | | ------------------ | ----------------------------------------------------- |
| Base Model | Qwen2.5-VL (Vision-Language Model) | | Base Model | Qwen2.5-VL (Vision-Language Model) |
| Action Prediction | Flow Matching (diffusion) or FAST (discrete tokens) | | 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 | | 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 ## Citation
If you use this work, please cite: If you use this work, please cite:
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## License ## 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 config_class = WallXConfig
name = "wall_x" name = "wall_x"
def __init__(self, config: WallXConfig): def __init__(self, config: WallXConfig, **kwargs):
super().__init__(config) super().__init__(config)
config.validate_features() config.validate_features()
self.config = config self.config = config