mirror of
https://github.com/huggingface/lerobot.git
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Tong Wu
603d44434f
* 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>
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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.
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 |
| 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:
@article{zhai2025igniting,
title = {Igniting VLMs Toward the Embodied Space},
author = {Zhai, Andy and Liu, Brae and Fang, Bruno and Cai, Chalse and Ma, Ellie and Yin, Ethan and Wang, Hao and Zhou, Hugo and Wang, James and Shi, Lights and Liang, Lucy and Wang, Make and Wang, Qian and Gan, Roy and Yu, Ryan and Li, Shalfun and Liu, Starrick and Chen, Sylas and Chen, Vincent and Xu, Zach},
journal = {arXiv preprint arXiv:2509.11766},
year = {2025}
}
License
This model follows the Apache 2.0 License, consistent with the original WallX repository.