---
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.