import{s as ye,n as ce,o as fe}from"../chunks/scheduler.eb244325.js";import{S as Te,i as je,e as i,s,c as r,h as Je,a as o,d as l,b as n,f as we,g as M,j as B,k as ue,l as $e,m as a,n as h,t as d,o as m,p as w}from"../chunks/index.3fe63ad3.js";import{C as ge}from"../chunks/CopyLLMTxtMenu.88bde5f2.js";import{C as ke}from"../chunks/CodeBlock.934d290d.js";import{H as x,E as Ue}from"../chunks/MermaidChart.svelte_svelte_type_style_lang.341974a5.js";function be(ie){let p,S,v,Q,u,E,y,Y,c,oe='This repository contains the Hugging Face port of <a href="https://x2robot.com/en/research/68bc2cde8497d7f238dde690" rel="nofollow"><strong>WALL-OSS</strong></a>, a Vision-Language-Action model for cross-embodiment robotic control based on Qwen2.5-VL with flow matching/FAST action prediction.',A,R,F,f,H,T,pe="<thead><tr><th>Feature</th> <th>Description</th></tr></thead> <tbody><tr><td>Base Model</td> <td>Qwen2.5-VL (Vision-Language Model)</td></tr> <tr><td>Action Prediction</td> <td>Flow Matching (diffusion) or FAST (discrete tokens)</td></tr> <tr><td>Architecture</td> <td>Mixture of Experts (MoE) with action-specific routing</td></tr> <tr><td>Multi-Modal Inputs</td> <td>Vision (images/videos), Language, Proprioception</td></tr></tbody>",_,X,D,j,G,J,re='Paper: <a href="https://arxiv.org/pdf/2509.11766" rel="nofollow">https://arxiv.org/pdf/2509.11766</a>',V,$,Me='Official Repository: <a href="https://github.com/X-Square-Robot/wall-x" rel="nofollow">https://github.com/X-Square-Robot/wall-x</a>',Z,g,he='Hugging Face: <a href="https://huggingface.co/x-square-robot" rel="nofollow">https://huggingface.co/x-square-robot</a>',P,N,q,k,z,U,de="If you use this work, please cite:",O,b,K,ee,te,C,le,W,me='This model follows the <strong>Apache 2.0 License</strong>, consistent with the original <a href="https://github.com/X-Square-Robot/wall-x" rel="nofollow">WallX repository</a>.',ae,L,se,I,ne;return u=new ge({props:{containerStyle:"float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"}}),y=new x({props:{title:"WALL-OSS",local:"wall-oss",headingTag:"h1"}}),f=new x({props:{title:"Model Overview",local:"model-overview",headingTag:"h2"}}),j=new x({props:{title:"Additional Resources",local:"additional-resources",headingTag:"h2"}}),k=new x({props:{title:"Citation",local:"citation",headingTag:"h2"}}),b=new ke({props:{code:"JTQwYXJ0aWNsZSU3QnpoYWkyMDI1aWduaXRpbmclMkMlMEElMjAlMjAlMjAlMjB0aXRsZSUyMCUyMCUyMCUzRCUyMCU3Qklnbml0aW5nJTIwVkxNcyUyMFRvd2FyZCUyMHRoZSUyMEVtYm9kaWVkJTIwU3BhY2UlN0QlMkMlMEElMjAlMjAlMjAlMjBhdXRob3IlMjAlMjAlM0QlMjAlN0JaaGFpJTJDJTIwQW5keSUyMGFuZCUyMExpdSUyQyUyMEJyYWUlMjBhbmQlMjBGYW5nJTJDJTIwQnJ1bm8lMjBhbmQlMjBDYWklMkMlMjBDaGFsc2UlMjBhbmQlMjBNYSUyQyUyMEVsbGllJTIwYW5kJTIwWWluJTJDJTIwRXRoYW4lMjBhbmQlMjBXYW5nJTJDJTIwSGFvJTIwYW5kJTIwWmhvdSUyQyUyMEh1Z28lMjBhbmQlMjBXYW5nJTJDJTIwSmFtZXMlMjBhbmQlMjBTaGklMkMlMjBMaWdodHMlMjBhbmQlMjBMaWFuZyUyQyUyMEx1Y3klMjBhbmQlMjBXYW5nJTJDJTIwTWFrZSUyMGFuZCUyMFdhbmclMkMlMjBRaWFuJTIwYW5kJTIwR2FuJTJDJTIwUm95JTIwYW5kJTIwWXUlMkMlMjBSeWFuJTIwYW5kJTIwTGklMkMlMjBTaGFsZnVuJTIwYW5kJTIwTGl1JTJDJTIwU3RhcnJpY2slMjBhbmQlMjBDaGVuJTJDJTIwU3lsYXMlMjBhbmQlMjBDaGVuJTJDJTIwVmluY2VudCUyMGFuZCUyMFh1JTJDJTIwWmFjaCU3RCUyQyUwQSUyMCUyMCUyMCUyMGpvdXJuYWwlMjAlM0QlMjAlN0JhclhpdiUyMHByZXByaW50JTIwYXJYaXYlM0EyNTA5LjExNzY2JTdEJTJDJTBBJTIwJTIwJTIwJTIweWVhciUyMCUyMCUyMCUyMCUzRCUyMCU3QjIwMjUlN0QlMEElN0Q=",highlighted:`@article{zhai2025igniting,
    title   = {Igniting VLMs Toward the Embodied Space},
    author  = {Zhai, <span class="hljs-keyword">Andy </span><span class="hljs-keyword">and </span>Liu, <span class="hljs-keyword">Brae </span><span class="hljs-keyword">and </span>Fang, <span class="hljs-keyword">Bruno </span><span class="hljs-keyword">and </span>Cai, Chalse <span class="hljs-keyword">and </span>Ma, Ellie <span class="hljs-keyword">and </span>Yin, Ethan <span class="hljs-keyword">and </span>Wang, Hao <span class="hljs-keyword">and </span>Zhou, Hugo <span class="hljs-keyword">and </span>Wang, <span class="hljs-keyword">James </span><span class="hljs-keyword">and </span><span class="hljs-keyword">Shi, </span>Lights <span class="hljs-keyword">and </span>Liang, Lucy <span class="hljs-keyword">and </span>Wang, Make <span class="hljs-keyword">and </span>Wang, Qian <span class="hljs-keyword">and </span>Gan, Roy <span class="hljs-keyword">and </span>Yu, Ryan <span class="hljs-keyword">and </span>Li, <span class="hljs-keyword">Shalfun </span><span class="hljs-keyword">and </span>Liu, Starrick <span class="hljs-keyword">and </span>Chen, Sylas <span class="hljs-keyword">and </span>Chen, Vincent <span class="hljs-keyword">and </span>Xu, Zach},
    <span class="hljs-keyword">journal </span>= {arXiv preprint arXiv:<span class="hljs-number">2509</span>.<span class="hljs-number">11766</span>},
    year    = {<span class="hljs-number">2025</span>}
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