nvidia/cosmos3-nano-libero10-sdg-export-S5_2

Cosmos3-Nano LIBERO-10 policy, cell S5_2

A Cosmos3-Nano action policy post-trained on LIBERO-10, one cell of the controlled synthetic-data study in the Cosmos Cookbook recipe "Restyle LIBERO-10 Demonstrations with Cosmos3-Nano-Sim-Transfer and Measure the Gain Against a Matched Control". Export of the training checkpoint (bf16 safetensors, EMA weights, 7 shards, about 30 GB); loadable by the cosmos-framework policy server. The training data is not redistributed here: LIBERO-10 is at nvidia/LIBERO_LeRobot_v3, and the restyled sets are regenerated by the recipe.

| | | |---|---| | Training data | 379 real LIBERO-10 demonstrations + 1895 restyled from iteration 1000 | | Iterations | resume R at 1000 -> 2000 (global batch 2048, training seed 42) | | Success, standard scenes | 94.4 +/- 2.1 % (10 tasks x 50 initial states, three evaluation seeds) | | Success, perturbed scenes | 89.2 +/- 1.3 % (same initial states with randomised lighting, textures, skybox and camera jitter) | | Base model | nvidia/Cosmos3-Nano, revision e59a53c2 | | Framework | cosmos-framework c23e51f2 (v1.2.2) |

Read the recipe before comparing cells: a restyled cell is only interpretable next to its duplicate control, and differences under 2.5 points are within the training-seed spread.

Licence: derivative of nvidia/Cosmos3-Nano; the NVIDIA Open Model License applies.