{
  "model_type": "cosmos-policy",
  "architecture": "diffusion-transformer",
  "base_model": "nvidia/Cosmos-Predict2-2B-Video2World",
  "num_parameters": "2B",

  "input_spec": {
    "text": {
      "type": "string",
      "description": "Natural language task description"
    },
    "images": {
      "format": "RGB",
      "resolution": [224, 224],
      "views": ["top_down", "left_wrist", "right_wrist"]
    },
    "proprioception": {
      "dim": 14,
      "components": ["left_arm_joints", "right_arm_joints"],
      "joints_per_arm": 7
    }
  },

  "output_spec": {
    "actions": {
      "dim": 14,
      "horizon": 50,
      "components": ["left_arm_6dof", "left_gripper", "right_arm_6dof", "right_gripper"],
      "control_frequency_hz": 25
    },
    "future_proprioception": {
      "dim": 14
    },
    "future_images": {
      "resolution": [224, 224],
      "views": 3
    },
    "value": {
      "dim": 1
    }
  },

  "diffusion_config": {
    "denoising_steps": 10,
    "sigma_min": 4.0,
    "sigma_max": 80.0,
    "generation_mode": "parallel"
  },

  "training": {
    "dataset": "ALOHA-Cosmos-Policy",
    "gradient_steps": 50000,
    "batch_size": 200,
    "hardware": "8x H100",
    "action_chunk_size": 50,
    "num_demonstrations": 185
  },

  "benchmark_results": {
    "put_x_on_plate": 1.0,
    "fold_shirt": 0.995,
    "put_candies_in_bowl": 0.896,
    "put_candy_in_ziploc_bag": 0.854,
    "average": 0.936
  },

  "inference": {
    "precision": "bf16",
    "vram_gb": 6.0
  },

  "robot_platform": "ALOHA 2 (ViperX 300 S dual arms)"
}