| 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 opposed` with the FlowDAgger Cosmos runner. | |