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README.md

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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.