---
license: other
library_name: pytorch
pipeline_tag: robotics
---

# Cosmos Policy MetaWorld Predict2 2B

Artifacts for the FlowDAgger OSS Cosmos/MetaWorld assembly example.

This bundle contains:
- `consolidated.pt`: Cosmos Policy Predict2 2B checkpoint finetuned on MetaWorld.
- `dataset_statistics.json`: normalization statistics used by the policy wrapper.
- `t5_embeddings.pkl`: cached text embeddings for the MetaWorld prompts.

The released FlowDAgger recipe targets MetaWorld `assembly-v3`. In the July 2026 reproduction, the frozen base policy reached about 52% success over 25 evaluation episodes and FlowDAgger full-mode steering reached about 84-88%.

The checkpoint expects the MetaWorld gripper proprio convention `[g, -g]`; use `--gripper_qpos_mode opposed` in the OSS launcher.