metadata
license: other
library_name: cosmos-policy
pipeline_tag: robotics
Cosmos Policy MetaWorld Predict2 2B
FlowDAgger OSS release artifact for the Cosmos 2B MetaWorld backend.
Files:
consolidated.pt: Cosmos Policy Predict2 2B checkpoint finetuned on MetaWorld data for the release recipe.dataset_statistics.json: action/proprio normalization statistics.t5_embeddings.pkl: cached text embeddings for the MetaWorld prompts used by the example.
The release recipe targets MetaWorld assembly-v3 with prompt Pick up a nut and place it onto a peg. This checkpoint intentionally leaves headroom: the frozen base policy is about 52% SR over 25 eval episodes in the reference run, and FlowDAgger full-mode steering reaches about 84-88%.
The checkpoint expects MetaWorld gripper proprio encoded as [g, g]; use --gripper_qpos_mode duplicated with the FlowDAgger Cosmos runner.