WALL-OSS

WALL-OSS is an open-source foundation model for embodied intelligence, proposed by the XSquare Robot team in 2025. The LeRobot implementation is adapted from their open-source WallX repository.

X Square Robot’s WALL-OSS is now integrated into Hugging Face’s LeRobot ecosystem. This is an exciting collaborative project between the LeRobot and X Square Robot teams. You can now post-train, evaluate, and deploy WALL-OSS directly through LeRobot. With this, we’re aiming to make it easier for the open-source robotics community to customize and deploy WALL-OSS foundation models. Read and explore WALL-OSS paper and code.

Model Overview

The WALL-OSS team is 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, the emergence of a truly generalizable intelligence is enabled—one that understands not just how the world works, but how to act effectively within it.

Technically, WALL-OSS introduces a tightly coupled multimodal architecture (tightly-coupled MoE structure) that integrates both discrete and continuous action modeling strategies. Through a two-stage training pipeline (Inspiration → Integration), the model gradually unifies semantic reasoning and high-frequency action generation. Its core innovations include:

• Embodied perception–enhanced multimodal pretraining: Large-scale training on unified vision–language–action data to strengthen spatial, causal, and manipulation understanding.
• Unified Cross-Level Chain-of-Thought (Uni-CoT): A single differentiable framework that unifies high-level instruction reasoning, sub-task decomposition, and fine-grained action synthesis, forming a continuous chain from “understanding” to “execution.”
• Mixture-of-Experts (MoE) action heads: Dynamically activating experts depending on the task phase and modeling actions in discrete or continuous space to maintain stable VLM priors.
• Two-stage training paradigm:
  • Inspiration stage: Injecting discrete action priors to strengthen spatial understanding and semantic-action alignment.
  • Integration stage: Using flow matching to achieve high-frequency continuous control.

Installation Requirements

1. Install LeRobot by following our Installation Guide.

2. Install WallX dependencies by running:

   Copied

   pip install -e ".[wallx]"

Usage

To use WallX in LeRobot, specify the policy type as:

policy.type=wall_x

Text generation and interactive control

WALL-OSS exposes native text generation through the policy contract from Bring your own policy. Runtime supplies query_kind and caller-owned text before running WALL-OSS’s normal input pipeline:

request = {
    **observation,
    "query_kind": "vqa",
    "text": "Which object is closest to the right gripper?",
}
processed_batch = preprocessor(request)
answer = policy.generate_text(processed_batch)

vqa preserves the question as the user payload. next_subtask applies the checkpoint recipe before ${subtask}. WALL-X directly overrides the public generate_text(processed_batch) API for its Qwen vision-language expert and reports that capability through supports_text_generation().

The interactive language runtime can generate a subtask and then condition WALL-OSS action prediction on it:

lerobot-rollout \
  --strategy.type=base \
  --policy.path=your-org/your-wall-oss-checkpoint \
  --robot.type=your_robot_type \
  --robot.port=/dev/your_robot_port \
  --task="clear the table" \
  --interactive=true

After /start, use /vqa <question> for image-grounded VQA or /autosteer <goal> for recipe-backed next-subtask generation. /subtask <text> bypasses generation and sends an instruction directly to action inference.

Training

For training WallX, you can use the standard LeRobot training script with the appropriate configuration:

lerobot-train \
    --dataset.repo_id=your_dataset \
    --policy.type=wall_x \
    --output_dir=./outputs/wallx_training \
    --job_name=wallx_training \
    --policy.repo_id=your_repo_id \
    --policy.pretrained_name_or_path=x-square-robot/wall-oss-flow \
    --policy.prediction_mode=diffusion \
    --policy.attn_implementation=eager \
    --steps=3000 \
    --policy.device=cuda \
    --batch_size=32

Train with language annotations

WALL-X uses its built-in recipe to train from LeRobot’s optional language columns. Set recipe_path only to replace that recipe:

lerobot-train \
  --dataset.repo_id=your_org/your_language_annotated_dataset \
  --policy.type=wall_x \
  --policy.pretrained_name_or_path=x-square-robot/wall-oss-flow \
  --policy.text_loss_weight=0.01 \
  --policy.flow_loss_weight=1.0 \
  --policy.device=cuda \
  --batch_size=1 \
  --steps=20000

Targeted assistant turns receive next-token cross-entropy, while low_level recipe streams receive continuous flow-action supervision. A row may receive either objective or both. User prompts, images, proprioception, action-query tokens, and padding are excluded from text loss. Set policy.recipe=null to use WALL-OSS’s original action-only training path.

See Language columns and recipes for the annotation schema and available recipes.

Training Arguments

Language training uses policy.text_loss_weight (default 0.01), policy.flow_loss_weight (default 1.0), and policy.tokenizer_max_length (default 768). policy.recipe_path optionally replaces the built-in recipe.

License

This model follows the Apache 2.0 License, consistent with the original WallX repository.