{"id":"https://openalex.org/W7163080715","doi":"https://doi.org/10.48550/arxiv.2605.30877","title":"Wall-OSS-0.5 Technical Report","display_name":"Wall-OSS-0.5 Technical Report","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7163080715","doi":"https://doi.org/10.48550/arxiv.2605.30877"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30877","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30877","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.30877","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101286077","display_name":"Ryan Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Ryan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048462355","display_name":"Pushi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Pushi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111229256","display_name":"Starrick Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Starrick","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137525640","display_name":"Brae Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Brae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137544177","display_name":"Miracle Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, Miracle","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032869697","display_name":"S. X. Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Shalfun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025170020","display_name":"Li Shi","orcid":"https://orcid.org/0000-0002-5401-6839"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Lights","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137518802","display_name":"Ellie Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Ellie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137573870","display_name":"Ping Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Ping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101220625","display_name":"Chris Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Chris","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137580378","display_name":"Jerry Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jerry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137554121","display_name":"Dongxiu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Dongxiu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137527650","display_name":"Rain Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Rain","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137611728","display_name":"Miles Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Miles","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137518345","display_name":"Byron Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Byron","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137544002","display_name":"Hugo Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Hugo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071514863","display_name":"Zach Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zach","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137611078","display_name":"Vincent Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Vincent","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032022393","display_name":"Harrison Huang","orcid":"https://orcid.org/0000-0001-9559-1250"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Harrison","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135944736","display_name":"James Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, James","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137613072","display_name":"Dance Kuzi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuzi, Dance","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132554759","display_name":"Andy Zhai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhai, Andy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137589188","display_name":"Hang Su","orcid":"https://orcid.org/0009-0008-1786-0249"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132674188","display_name":"Roy Gan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gan, Roy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062343908","display_name":"Lucy Liang","orcid":"https://orcid.org/0009-0003-5462-832X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Lucy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137565840","display_name":"Hao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137609710","display_name":"Qian Wang","orcid":"https://orcid.org/0000-0001-6106-8365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6557999849319458,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6557999849319458,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.10459999740123749,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.06030000001192093,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6955000162124634},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6870999932289124},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.677299976348877},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6331999897956848},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5483999848365784},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4068000018596649},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37779998779296875},{"id":"https://openalex.org/keywords/unexpected-events","display_name":"Unexpected events","score":0.37439998984336853}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6955000162124634},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6870999932289124},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.677299976348877},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6331999897956848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6291000247001648},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5483999848365784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5364000201225281},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4068000018596649},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39489999413490295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37779998779296875},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.3443000018596649},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27869999408721924},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2727000117301941},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.26980000734329224},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.25949999690055847}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30877","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30877","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.30877","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30877","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large-scale":[0],"Vision-Language-Action":[1],"(VLA)":[2],"pretraining":[3,34,225],"is":[4,19,75,83],"increasingly":[5],"adopted":[6],"as":[7,139,178],"the":[8,14,126,140,147,174,210],"foundation":[9],"for":[10,16,48],"robot":[11,38,94,238],"policies,":[12],"yet":[13],"evidence":[15],"pretrained":[17,72,84,148],"VLAs":[18],"almost":[20],"invariably":[21],"reported":[22],"after":[23],"task-specific":[24,145],"fine-tuning.":[25],"This":[26],"leaves":[27],"a":[28,45,61,99,105,159,169,179,231],"foundational":[29],"question":[30],"unanswered:":[31],"does":[32,41,204],"VLA":[33,58,224],"itself":[35],"yield":[36],"executable":[37],"behavior,":[39,154],"or":[40],"it":[42],"merely":[43],"furnish":[44],"better":[46],"initialization":[47,228],"downstream":[49],"policy":[50],"learning?":[51],"We":[52,103],"present":[53],"Wall-OSS-0.5,":[54],"an":[55,227],"open-source":[56],"4B":[57],"built":[59],"upon":[60],"3B":[62],"VLM":[63],"backbone":[64],"augmented":[65],"with":[66],"action-generation":[67],"components,":[68],"designed":[69],"so":[70],"that":[71,201],"robotic":[73],"capability":[74],"directly":[76,232],"measurable":[77],"on":[78,168,188],"physical":[79],"hardware.":[80],"The":[81],"model":[82,211],"across":[85],"more":[86],"than":[87],"20":[88],"embodiments,":[89],"processing":[90],"over":[91],"one":[92],"million":[93],"trajectories":[95],"per":[96],"epoch":[97],"alongside":[98],"grounded":[100,131,207],"multimodal":[101,128],"corpus.":[102],"adopt":[104],"gradient-bridged":[106],"co-training":[107],"recipe":[108],"in":[109],"which":[110],"three":[111],"objectives":[112],"play":[113],"distinct":[114],"and":[115,134,192],"complementary":[116],"roles:":[117],"discrete":[118],"action":[119,142,202],"prediction":[120,129],"routes":[121],"strong":[122],"VLM-native":[123],"gradients":[124],"into":[125],"backbone,":[127],"preserves":[130,212],"vision-language":[132,208,214],"understanding,":[133],"continuous":[135],"flow":[136],"matching":[137],"serves":[138,177],"deployment-time":[141],"interface.":[143],"Before":[144],"fine-tuning,":[146,173],"checkpoint":[149,176],"achieves":[150],"non-trivial":[151],"zero-shot":[152],"real-robot":[153,190],"completing":[155],"several":[156],"tasks,":[157],"including":[158],"held-out":[160],"deformable":[161],"manipulation":[162],"task,":[163],"at":[164],"high":[165],"task":[166,186],"progress":[167,187],"17-task":[170],"suite.":[171],"After":[172],"same":[175],"stronger":[180],"adaptation":[181],"prior,":[182],"reaching":[183],"60.5%":[184],"average":[185],"15":[189],"tasks":[191],"outperforming":[193],"\u03c0_0.5":[194],"by":[195],"17.5%.":[196],"Multimodal":[197],"evaluations":[198],"further":[199],"confirm":[200],"training":[203],"not":[205],"erode":[206],"competence:":[209],"broad":[213],"ability":[215],"while":[216],"strengthening":[217],"embodied":[218],"grounding.":[219],"Together,":[220],"these":[221],"results":[222],"reposition":[223],"from":[226],"strategy":[229],"to":[230],"testable,":[233],"already":[234],"useful":[235],"source":[236],"of":[237],"capability.":[239]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-02T00:00:00"}