WALL-OSS 0.5
X Square Robot
An open 4B VLA pretrained across more than 20 embodiments, with physical-hardware evaluation of pretrained robotic capability.
- Code
- Available
- Weights
- Available
- Checkpoint
- Available
- License
- Apache-2.0
Decision summary
Zero-shot physical capability
Hardware, latency, dependencies, and checkpoint loading are not pipeline-tested.
Run a checkpoint loading smoke test before marking the model pipeline-tested.
Release history
Source-backed release timing for this canonical model record.
- Paper
Model series introduced
Release timing is anchored to the cited paper publication date.
Selection readiness
Evidence dimensions for deciding whether this model is ready to inspect, compare, or adopt. Scores describe catalog evidence, not task performance.
Published evaluation
How scores work76/100
Useful
5/6 dimensions scored · 63% confidence
Engineering checks (OBRS) behind this record
Needs Audit
OBRS metadata and reported test evidence. A breakdown behind Selection readiness, not a separate score or an independent OpenBot certification.
- A passing real-hardware test report is required.
- A passing ingestion/pipeline test report is required.
- A passing privacy and provenance review is required.
Why these scores
The strongest decision reasons behind Selection readiness.
Artifact availability
UsefulCheckpoint files were verified in the official repository metadata.
Training and loading reproducibility
UsefulConfiguration files are present; runtime loading is not tested.
Evaluation evidence
UnknownNo structured evaluation evidence has been verified.
Data requirements
Declared loop-data needs, missing evidence, and the next checks that matter.
Observation / ego video
observation
Language intent / task phase
language intent · task phase
Action / robot state
actions · robot state
Feedback / correction / failure
Descriptive model record
Critical gaps
Core categories are represented. Interface alignment and data quality still require verification.
Linked datasets
Signal-level links only. Verify runtime interfaces before use.
More evidenceShowHide
Additional data signals
Sim-real / embodiment metadata
robot state
Additional decision dimensions
Access and license are declared by the source.
75 · c85Required signal categories are structured; exact tensor and action interfaces still need verification.
76 · c70Hardware, latency, dependencies, and checkpoint loading are not pipeline-tested.
70 · c55Artifact facts
- release_year
- official_claim
- 2026
- curated official source year
- model.required_signals
- official_claim
- observation · language intent · task phase · actions · robot state
- Official model documentation and curated signal mapping
- repository.code
- metadata_verified
- repository: X-Square-Robot/wall-x · default branch: main · archived: false · code file count: 134 · sample files: pyproject.toml · requirements.txt · scripts/compute_norm_stats.py · scripts/draw_openloop_plot.py · scripts/fake_inference.py · scripts/infer_libero.py · scripts/merge_sharded_weights.py · scripts/merge_tokenizer.py · setup.py · tests/test_ops_fallback.py · wall_x/__init__.py · wall_x/_vendor/__init__.py · wall_x/_vendor/harrix/__init__.py · wall_x/_vendor/harrix/adapters/__init__.py · wall_x/_vendor/harrix/adapters/base.py · wall_x/_vendor/harrix/adapters/qwen_vlact.py · wall_x/_vendor/harrix/adapters/registry.py · wall_x/_vendor/harrix/adapters/variants/__init__.py · wall_x/_vendor/harrix/adapters/variants/qwen2_5.py · wall_x/_vendor/harrix/drivers/__init__.py
- GitHub repository metadata and recursive tree
- model.hub
- official_claim
- declared
- curated model hub link
- model.weight_files
- metadata_verified
- repository: x-square-robot/wall-oss-flow · count: 1 · sample files: model.safetensors
- Hugging Face model metadata siblings
- model.checkpoint_files
- metadata_verified
- repository: x-square-robot/wall-oss-flow · count: 1 · sample files: model.safetensors
- Hugging Face model metadata checkpoint files
- model.config_files
- metadata_verified
- repository: x-square-robot/wall-oss-flow · count: 4 · sample files: config.json · generation_config.json · preprocessor_config.json · tokenizer_config.json
- Hugging Face model metadata siblings
- license.code
- metadata_verified
- Apache-2.0
- GitHub repository SPDX license metadata
- license
- metadata_verified
- Apache-2.0
- GitHub repository SPDX license metadata
- release_timing
- metadata_verified
- 2026-05-29T06:04:03.000Z
- arXiv 2605.30877 published
- discovery.source
- secondary_claim
- name: worldbench/awesome-embodied-data-pyramid · trust: discovery_only · revision: 0568599d0619f20946e8089f6a941d0d9e30b690
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- discovery.raw_fields
- secondary_claim
- Time: 2026.5 · Method: Wall-OSS-0.5 · Institution: X Square Robot · Project: [](https://x2robot.com/oss#resources) · Model: VLA · Data: ![Real][data-real] ![General][data-general]
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- model.reported_release_time
- secondary_claim
- 2026.5
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- model.type
- secondary_claim
- VLA
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- model.training_data_layers
- secondary_claim
- real_robot · general
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- model.institution
- secondary_claim
- X Square Robot
- #table-embodied-foundation-models-vla-wam, table 17, row 59
- catalog.curation
- secondary_claim
- tier: editorial_focus · collection: WorldBench Awesome Embodied Data Pyramid · policy: human_curated_priority
- #table-embodied-foundation-models-vla-wam, table 17, row 59
Additional references
OpenBot notes
- Officially integrated into LeRobot; self-reported results should remain separate from independent reproduction.