自变量机器人（X Square Robot）
WALL-OSS
4.22B Commercial terms unverified 7/8 verified
1 of 8 required fields are unverified. They are shown as badges, not filled with defaults. Sources for verified fields are listed below.
Facts
- Released
- 2025-09 1 Source
- Parameters
- 4.22 B 1 Source
- Architecture
- VLM + action expert 0 Source
- License
- Apache-2.0（代码仓库）；权重模型卡未标注许可证 1 Source
- Commercial
- Commercial terms unverified 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 双臂关节（flow matching / FAST token） 0 Source
- Cross-embodiment
- 大规模多模态预训练 + 真机操作（README 未列本体清单） 0 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Dual arm 0 Source
Architecture · Qwen2.5-VL 主干 + MoE 动作专家（Qwen2_5_VLMoEForAction）；FLOW / FAST 两种动作头；2026-05 发布 0.5 版与世界模型 WALL-WM
Sources · 2 sources
release_date,license,arch_notes,code_url https://github.com/X-Square-Robot/wall-x Official page · Fetched 2026-09-04 · No snapshot stored yet README：2025-09 WALL-OSS；2026-05 Wall-OSS-0.5 与 WALL-WM；Apache-2.0 license；Qwen2_5_VLMoEForAction
params_b,weights_url https://huggingface.co/api/models/x-square-robot/wall-oss-flow Model hub page · Fetched 2026-09-04 · No snapshot stored yet safetensors 4,224,041,072；模型卡无 license 字段；base qwen2_5_vl
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-04
Sources fetched
release_date,license,arch_notes,code_url · params_b,weights_url
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
NVIDIA H100 80GB no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | Fourier GR-2 | WidowX 250 S | Google Robot（Everyday Robots） | ALOHA 2 / Cobot Magic（双臂） | Galaxea R1 Pro | Franka Emika Panda | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| WALL-OSS |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 1 / 12 cells with a definite status
Clear direction, grounded judgement.