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license: other
library_name: cosmos-policy
pipeline_tag: robotics
tags:
- robotics
- cosmos-policy
- openarm
- lerobot
- action-generation
---
# 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.
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