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Cosmos-Policy-MetaWorld-Predict2-2B
mmurray-ms/Cosmos-Policy-MetaWorld-Predict2-2B
Cosmos-Policy-MetaWorld-Predict2-2B is a robotics model from mmurray-ms. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for cosmos-policy. The card lists the license as other.
FlowDAgger OSS release artifact for the Cosmos 2B MetaWorld backend.
Access
Public
Updated Jul 9, 2026
Repo size
7.9 GB
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.pt3.9 GB · 99%
At a glance
- Task
- Robotics
- Library
- cosmos-policy
- License
- other
- Access
- Public
- Created
- Jul 9, 2026
- Updated
- Jul 9, 2026
- SHA
- 6546ab82
Model card
From the Hugging Face model README
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.
- Task
- Robotics
- Library
- cosmos-policy
- License
- other
- Created
- Jul 9, 2026
- Updated
- Jul 9, 2026