evaluating-cosmos-policy
Cosmos Policy Evaluation
Evaluation workflows for NVIDIA Cosmos Policy on LIBERO and RoboCasa simulation environments from the public cosmos-policy repository. Covers blank-machine setup, headless GPU evaluation, and inference profiling.
Quick start
Run a minimal LIBERO evaluation using the official public eval module:
uv run --extra cu128 --group libero --python 3.10 \
python -m cosmos_policy.experiments.robot.libero.run_libero_eval \
--config cosmos_predict2_2b_480p_libero__inference_only \
--ckpt_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B \
--config_file cosmos_policy/config/config.py \
--use_wrist_image True \
--use_proprio True \
--normalize_proprio True \
--unnormalize_actions True \
--dataset_stats_path nvidia/Cosmos-Policy-LIBERO-Predict2-2B/libero_dataset_statistics.json \
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