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asterisms45/
Cosmos-Policy-OpenArm-Predict2-2B

Name: Cosmos-Policy-OpenArm-Predict2-2B
Availability: InStock

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Cosmos Policy OpenArm Predict2 2B

Fine-tuned NVIDIA Cosmos Policy checkpoint for OpenArm using asterisms45/my_openarm_dataset_combined_2cam.

This repository contains the inference checkpoint only:

model/: Cosmos distributed checkpoint model weights from openarm-2cam-46/checkpoints/iter_000050000/model
openarm_dataset_statistics.json: action/proprio normalization statistics
openarm_t5_embeddings.pkl: cached T5 task embeddings

The optimizer state from the training run is intentionally not uploaded.

Example

bash

uv run --extra cu128 --group aloha --python 3.10 python -m \
  cosmos_policy.experiments.robot.aloha.deploy \
  --config cosmos_predict2_2b_480p_openarm_asterisms45_2cam_posttrain__inference_only \
  --ckpt_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B \
  --config_file cosmos_policy/config/config.py \
  --use_third_person_image True \
  --use_wrist_image True \
  --num_wrist_images 2 \
  --use_proprio True \
  --normalize_proprio True \
  --unnormalize_actions True \
  --dataset_stats_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B/openarm_dataset_statistics.json \
  --t5_text_embeddings_path asterisms45/Cosmos-Policy-OpenArm-Predict2-2B/openarm_t5_embeddings.pkl \
  --trained_with_image_aug True \
  --chunk_size 50 \
  --num_open_loop_steps 50 \
  --num_denoising_steps_action 10 \
  --deterministic True

Model weights derive from NVIDIA Cosmos Policy. Check the upstream repository and model license terms before redistribution or commercial use.