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surgical-cosmos
ruirui4/surgical-cosmos
surgical-cosmos is a robotics model from ruirui4. 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. The card lists the license as apache-2.0.
Cosmos-Predict2 2B (480p) policy fine-tunes on SurRoL surgical tasks (cosmos-policy). Checkpoints are PyTorch distributed-checkpoint (.distcp) shards: checkpoints/iterXXXXXXXX/{model,optim,scheduler,trainer}. model/ a…
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Public
Updated Sep 9, 2026
Repo size
548 GB
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Repo makeup
Click a slice to open those files.
.distcp548 GB · 100%
At a glance
- Task
- Robotics
- Library
- cosmos
- License
- apache-2.0
- Access
- Public
- Created
- Sep 8, 2026
- Updated
- Sep 9, 2026
- SHA
- 2024f515
Model card
From the Hugging Face model README
surgical-cosmos
Cosmos-Predict2 2B (480p) policy fine-tunes on SurRoL surgical tasks (cosmos-policy). Checkpoints are PyTorch distributed-checkpoint (.distcp) shards: checkpoints/iter_XXXXXXXX/{model,optim,scheduler,trainer}. model/ alone (~3.7 GB) is enough for inference; optim/ (~15 GB) is only for resuming training. Each run also carries its config.yaml, launch_info.yaml, job_env.yaml and wandb_id.txt.
Runs prefixed surrol_ come from surgical/cosmos-policy/outputs_*; runs prefixed cosmos_predict2_ come from cosmos-policy/output. Suffix _original = original Cosmos-Predict2 base, _surgical_h = Cosmos-H surgical base.
| run | size |
|---|---|
| cosmos_predict2_2b_480p_knot_tying | 19G |
| cosmos_predict2_2b_480p_needle_passing | 19G |
| cosmos_predict2_2b_480p_surgical | 55G |
| cosmos_predict2_2b_480p_surgical_raw | 55G |
| surrol_bipegtransfer_10k_0to80_every10k_original | 19G |
| surrol_bipegtransfer_10k_0to80_every10k_surgical_h | 19G |
| surrol_gauzeretrieve_10k_0to80_every10k_original | 19G |
| surrol_gauzeretrieve_10k_0to80_every10k_surgical_h | 19G |
| surrol_gauzeretrieve_10k_retrain_0to80_original | 19G |
| surrol_needlepick_10k_0to80_every10k_original | 19G |
| surrol_needlepick_10k_0to80_every10k_surgical_h | 19G |
| surrol_needlepick_10k_rand_0to80_every10k_original | 19G |
| surrol_needlepick_10k_rand_0to80_every10k_surgical_h | 19G |
| surrol_needlepick_aligned22d_grasp3_original | 19G |
| surrol_needlepick_aligned22d_grasp3_surgical_h | 19G |
| surrol_needlepick_compat_chunk8_grasp5_original | 19G |
| surrol_needleregrasp_10k_0to80_every10k_original | 19G |
| surrol_needleregrasp_10k_0to80_every10k_surgical_h | 19G |
| surrol_pegtransfer_40k_rerun_20260725_original | 19G |
| surrol_pegtransfer_40k_rerun_20260725_surgical_h | 19G |
| surrol_pickplace_10k_oracle_chunk16 | 19G |
| surrol_pickplace_40k_oracle_chunk16 | 19G |
| surrol_pickplace_chunk16_long | 19G |
| surrol_pickplace_chunk16_surgical_base | 19G |
Uploaded from /data/wenrui on 2026-09-08.
- Task
- Robotics
- Library
- cosmos
- License
- apache-2.0
- Created
- Sep 8, 2026
- Updated
- Sep 9, 2026