Wall-OSS-0.5: 4B VLA with open training code and zero-shot real-robot evaluation[D]

In three linesWall-OSS-0.5 is a 4B VLA from X Square Robot with open training code. Zero-shot evaluation on 17 real-robot tasks: 4 tasks >80% progress, including Rope Tightening (82%). Post fine-tuning: 60.5% average task progress (+17.5pp vs pi0.5). Mixture-of-Transformers architecture with vision-aligned RVQ tokenizer and distributed DMuon optimizer.

Summary generated by Claude — human-verified