Instructions to use lerobot/Cosmos3-Edge with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use lerobot/Cosmos3-Edge with LeRobot:
# No code snippets available yet for this library. # To use this model, check the repository files and the library's documentation. # Want to help? PRs adding snippets are welcome at: # https://github.com/huggingface/huggingface.js
- Notebooks
- Google Colab
- Kaggle
Download config.json from lerobot/Cosmos3-Edge: direct link, hf CLI and curl.
- Browser
- Download file 9 kB
-
https://huggingface.co/lerobot/Cosmos3-Edge/resolve/main/config.json
- Command line
-
hf download hf://lerobot/Cosmos3-Edge/config.json
-
curl -L -o config.json https://huggingface.co/lerobot/Cosmos3-Edge/resolve/main/config.json
9 kB
| { | |
| "type": "cosmos3_edge", | |
| "n_obs_steps": 1, | |
| "input_features": {}, | |
| "output_features": {}, | |
| "device": "cuda", | |
| "dtype": "float32", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": false, | |
| "repo_id": null, | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "pretrained_revision": null, | |
| "chunk_size": 32, | |
| "n_action_steps": 32, | |
| "max_action_dim": 64, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "IDENTITY", | |
| "ACTION": "IDENTITY" | |
| }, | |
| "mot_backbone": { | |
| "transformers_version": "5.5.4", | |
| "architectures": null, | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": null, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
| "LABEL_1": 1 | |
| }, | |
| "problem_type": null, | |
| "text_config": { | |
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| "return_dict": true, | |
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| "chunk_size_feed_forward": 0, | |
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| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
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| }, | |
| "problem_type": null, | |
| "vocab_size": 131072, | |
| "hidden_size": 2048, | |
| "intermediate_size": 9216, | |
| "num_hidden_layers": 28, | |
| "num_attention_heads": 16, | |
| "num_key_value_heads": 8, | |
| "head_dim": 128, | |
| "hidden_act": "relu2", | |
| "mlp_bias": false, | |
| "attention_bias": false, | |
| "attention_dropout": 0.0, | |
| "max_position_embeddings": 131072, | |
| "initializer_range": 0.02, | |
| "rms_norm_eps": 1e-05, | |
| "use_cache": true, | |
| "rope_parameters": { | |
| "mrope_section": [ | |
| 24, | |
| 20, | |
| 20 | |
| ], | |
| "rope_theta": 100000000, | |
| "rope_type": "default" | |
| }, | |
| "pad_token_id": 0, | |
| "joint_attn_implementation": "two_way", | |
| "_name_or_path": "", | |
| "eos_token_id": 11, | |
| "model_type": "nemotron_3_dense_vl_text", | |
| "output_attentions": false | |
| }, | |
| "vision_config": { | |
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| "return_dict": true, | |
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| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
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| }, | |
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| "hidden_size": 1152, | |
| "intermediate_size": 4304, | |
| "num_hidden_layers": 27, | |
| "num_attention_heads": 16, | |
| "num_channels": 3, | |
| "patch_size": 16, | |
| "hidden_act": "gelu_pytorch_tanh", | |
| "layer_norm_eps": 1e-06, | |
| "attention_dropout": 0.0, | |
| "num_patches": 256, | |
| "spatial_merge_size": 2, | |
| "_name_or_path": "", | |
| "model_type": "nemotron_3_dense_vl_vision", | |
| "output_attentions": false | |
| }, | |
| "projector_config": { | |
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| "output_hidden_states": false, | |
| "return_dict": true, | |
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| "chunk_size_feed_forward": 0, | |
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| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
| "LABEL_0": 0, | |
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| }, | |
| "problem_type": null, | |
| "input_hidden_size": 1152, | |
| "merger_intermediate_size": 11520, | |
| "out_hidden_size": 2048, | |
| "spatial_merge_size": 2, | |
| "use_postshuffle_norm": false, | |
| "_name_or_path": "", | |
| "model_type": "nemotron_3_dense_vl_projector", | |
| "output_attentions": false | |
| }, | |
| "image_token_id": 19, | |
| "video_token_id": 18, | |
| "vision_start_token_id": 20, | |
| "vision_end_token_id": 21, | |
| "tie_word_embeddings": false, | |
| "_name_or_path": "", | |
| "model_type": "nemotron_3_dense_vl", | |
| "output_attentions": false | |
| }, | |
| "tokenizer_name": "nvidia/Cosmos3-Edge", | |
| "vae": { | |
| "base_dim": 160, | |
| "decoder_base_dim": 256, | |
| "z_dim": 48, | |
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| ], | |
| "num_res_blocks": 2, | |
| "attn_scales": [], | |
| "temperal_downsample": [ | |
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| "dropout": 0.0, | |
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| "is_residual": true, | |
| "in_channels": 12, | |
| "out_channels": 12, | |
| "patch_size": 2, | |
| "scale_factor_temporal": 4, | |
| "scale_factor_spatial": 16 | |
| }, | |
| "latent_patch_size": 2, | |
| "timestep_scale": 0.001, | |
| "timestep_embedding_dim": 256, | |
| "num_embodiment_domains": 32, | |
| "base_fps": 24.0, | |
| "temporal_modality_margin": 15000, | |
| "video_temporal_causal": false, | |
| "train_gen_stream_only": true, | |
| "freeze_vision_encoder": true, | |
| "load_action_modules": true, | |
| "gradient_checkpointing": false, | |
| "compile_model": false, | |
| "compile_mode": "default", | |
| "attn_implementation": "sdpa", | |
| "num_train_timesteps": 1000, | |
| "video_time_distribution": "waver", | |
| "training_shift": { | |
| "256": 3.0, | |
| "480": 5.0, | |
| "720": 10.0 | |
| }, | |
| "independent_action_schedule": false, | |
| "action_time_distribution": "logitnormal", | |
| "action_training_shift": null, | |
| "video_loss_weight": 10.0, | |
| "action_loss_weight": 10.0, | |
| "num_inference_steps": 4, | |
| "guidance_scale": 3.0, | |
| "guidance_interval": null, | |
| "sampling_shift": 5.0, | |
| "sampler": "unipc", | |
| "save_predicted_video": false, | |
| "mode": "wam", | |
| "use_state": true, | |
| "domain_id": 8, | |
| "fps": null, | |
| "view_size": null, | |
| "view_description": "The top row is from the wrist-mounted camera. The bottom row contains two horizontally concatenated third-person perspective views of the scene from opposite sides, with the robot visible.", | |
| "idle_state": true, | |
| "action_feature_names": null, | |
| "cfg_dropout_rate": 0.1, | |
| "optimizer_lr": 8e-05, | |
| "optimizer_betas": [ | |
| 0.9, | |
| 0.99 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.05, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "optimizer_action_lr_multiplier": 5.0, | |
| "scheduler_warmup_steps": 0, | |
| "scheduler_decay_steps": 100000 | |
| } |