greenwam / cosmos_framework /scripts /export_model.py
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# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: OpenMDW-1.1
"""Convert DCP checkpoint to Hugging Face model."""
from cosmos_framework.inference.common.init import init_script
init_script(
env={
"COSMOS_DEVICE": "cpu",
"COSMOS_TRAINING": "1",
}
)
import inspect
import json
import os
import shlex
import shutil
import subprocess
import sys
import tempfile
from pathlib import Path
from typing import Annotated, Any, Callable
import attrs
import safetensors.torch
import torch.distributed.checkpoint as dcp
import tyro
from torch.distributed.checkpoint.filesystem import FileSystemReader
from torch.distributed.checkpoint.state_dict import StateDictOptions, get_model_state_dict
from cosmos_framework.checkpoint.dcp import CustomLoadPlanner
from cosmos_framework.checkpoint.s3_filesystem import S3StorageReader
from cosmos_framework.configs.base.defaults.model_config import OmniMoTModelConfig
from cosmos_framework.inference.common.args import (
CheckpointOverrides,
ParallelismOverrides,
ResolvedPath,
tyro_cli,
)
from cosmos_framework.inference.common.checkpoints import register_checkpoints
from cosmos_framework.inference.common.config import serialize_config_dict
from cosmos_framework.inference.common.distillation_export import (
build_student_checkpoint_metadata,
resolve_vision_checkpoint_path,
sanitize_student_model_config,
sanitize_student_public_model_config,
)
from cosmos_framework.inference.common.init import is_rank0
from cosmos_framework.inference.common.public_model_config import build_public_model_config
from cosmos_framework.inference.model import Cosmos3OmniConfig, Cosmos3OmniModel
from cosmos_framework.model.generator.omni_mot_model import OmniMoTModel
from cosmos_framework.scripts._export_model_helpers import (
EDGE_VIT_BUNDLE_HF_INCLUDE,
build_artifact_source,
build_export_manifest,
bundle_processor_files,
bundle_processor_from_tokenizer_node,
bundle_vision_encoder,
clean_stale_export_artifacts,
constant_image_failure,
is_edge_model,
read_framework_commit,
reasoner_vision_capable,
resolve_vision_bundle_dirs,
sanitize_export_args,
set_include_visual,
)
from cosmos_framework.utils import log
from cosmos_framework.utils.checkpoint_db import CheckpointConfig, CheckpointDirHf, sanitize_uri
from cosmos_framework.utils.lazy_config.registry import convert_target_to_string
_INTERNAL_VISUAL_PREFIX = "model.net.language_model.visual."
_EXPORTED_VISUAL_PREFIX = "model.visual."
def _config_value(config: Any, key: str) -> Any:
if isinstance(config, dict):
return config.get(key)
return getattr(config, key, None)
def _dataset_config_value(dataset_config: Any, key: str) -> Any:
value = _config_value(dataset_config, key)
if value is not None:
return value
target = _config_value(dataset_config, "_target_") or _config_value(dataset_config, "_target")
if target is None:
return None
try:
parameter = inspect.signature(target).parameters.get(key)
except (TypeError, ValueError):
return None
if parameter is None or parameter.default is inspect.Parameter.empty:
return None
return parameter.default
def _build_edge_policy_metadata(training_config: Any) -> dict[str, Any]:
"""Resolve policy manifest fields from the action experiment config."""
try:
dataset_config = training_config.dataloader_train.dataloaders.action_data.dataloader.dataset
except AttributeError as exc:
raise ValueError(
"Cosmos3 Edge export requires an action dataset config at "
"dataloader_train.dataloaders.action_data.dataloader.dataset."
) from exc
dataset_entries = _config_value(dataset_config, "list_of_datasets")
if not dataset_entries:
raise ValueError("Cosmos3 Edge export requires at least one action dataset entry.")
metadata_by_dataset: list[dict[str, Any]] = []
for entry in dataset_entries:
action_dataset_config = _config_value(entry, "dataset")
if action_dataset_config is None:
raise ValueError("Cosmos3 Edge action dataset entries must define a dataset config.")
target = _config_value(action_dataset_config, "_target_") or _config_value(action_dataset_config, "_target")
action_chunk_size = _dataset_config_value(action_dataset_config, "chunk_length")
conditioning_fps = _dataset_config_value(action_dataset_config, "fps")
domain_name = _config_value(action_dataset_config, "embodiment_type")
if domain_name is None and target is not None:
domain_name = getattr(target, "EMBODIMENT_TYPE", None)
if not isinstance(action_chunk_size, int) or isinstance(action_chunk_size, bool) or action_chunk_size <= 0:
raise ValueError(
"Cosmos3 Edge action dataset config must define a positive integer `chunk_length`, "
f"got {action_chunk_size!r}."
)
if (
not isinstance(conditioning_fps, (int, float))
or isinstance(conditioning_fps, bool)
or conditioning_fps <= 0
):
raise ValueError(
f"Cosmos3 Edge action dataset config must define a positive numeric `fps`, got {conditioning_fps!r}."
)
if not isinstance(domain_name, str) or not domain_name.strip():
target_name = getattr(target, "__name__", repr(target))
raise ValueError(
"Cosmos3 Edge action dataset config must define `embodiment_type` or expose "
f"`EMBODIMENT_TYPE`; dataset target is {target_name}."
)
metadata_by_dataset.append(
{
"action_chunk_size": action_chunk_size,
"conditioning_fps": float(conditioning_fps),
"domain_name": domain_name.strip(),
}
)
metadata = metadata_by_dataset[0]
for field in metadata:
if any(dataset_metadata[field] != metadata[field] for dataset_metadata in metadata_by_dataset[1:]):
raise ValueError(
"Cosmos3 Edge checkpoint.json can represent only one action policy metadata value per field; "
f"the configured datasets disagree on `{field}`."
)
return metadata
def _coerce_to_base_model(model_dict: dict[str, Any]) -> None:
"""For distillation training configs, rewrite the target to the base
OmniMoTModel so the exported checkpoint only contains the student network."""
target = model_dict.get("_target_", "")
base_model_target = convert_target_to_string(OmniMoTModel)
if target != base_model_target:
log.info(f"Overriding model target from {target} to OmniMoTModel for export")
sanitize_student_model_config(
model_dict,
base_model_target=base_model_target,
base_config_type=convert_target_to_string(OmniMoTModelConfig),
base_config_field_names={field.name for field in attrs.fields(OmniMoTModelConfig)},
)
class Args(ParallelismOverrides):
checkpoint: CheckpointOverrides = CheckpointOverrides.model_construct()
output_dir: Annotated[ResolvedPath, tyro.conf.arg(aliases=("-o",))]
"""Output model directory."""
config_only: bool = False
"""If True, only export config."""
student_only_checkpoint_metadata: bool = False
"""If True, omit source checkpoint and credential paths from checkpoint metadata."""
vit: bool = True
"""If True, export ViT weights."""
vit_checkpoint_path: ResolvedPath | None = None
"""Optional local Hugging Face checkpoint directory containing ViT weights."""
verify: bool = False
"""If True, smoke-test the exported checkpoint with single-GPU inference (tiny reasoner + generation samples)."""
def _load_safetensor_weights(model_dir: Path, predicate: Callable[[str], bool]) -> dict[str, Any]:
"""Load weights from a safetensors file."""
index_path = model_dir / "model.safetensors.index.json"
if index_path.exists():
with open(index_path) as f:
weight_map = json.load(f)["weight_map"]
shards = {v for k, v in weight_map.items() if predicate(k)}
vision_weights = {}
for shard in shards:
tensors = safetensors.torch.load_file(model_dir / shard)
vision_weights.update({k: v for k, v in tensors.items() if predicate(k)})
else:
tensors = safetensors.torch.load_file(model_dir / "model.safetensors")
vision_weights = {k: v for k, v in tensors.items() if predicate(k)}
return vision_weights
def _rewrite_visual_fqns_for_vfm(state_dict: dict[str, Any]) -> dict[str, Any]:
"""Map HF visual tower FQNs to OmniMoTModel's internal visual tower FQNs."""
remapped_state_dict = {}
for key, value in state_dict.items():
if key.startswith(_EXPORTED_VISUAL_PREFIX):
key = _INTERNAL_VISUAL_PREFIX + key[len(_EXPORTED_VISUAL_PREFIX) :]
remapped_state_dict[key] = value
return remapped_state_dict
# Env vars stripped from the --verify subprocess: init_script pinned
# COSMOS_DEVICE=cpu / COSMOS_TRAINING=1 for the export process itself, and any
# torchrun rendezvous vars would make single-process inference hang.
_VERIFY_ENV_EXCLUDE = (
"COSMOS_DEVICE",
"COSMOS_TRAINING",
"RANK",
"LOCAL_RANK",
"WORLD_SIZE",
"LOCAL_WORLD_SIZE",
"GROUP_RANK",
"MASTER_ADDR",
"MASTER_PORT",
)
def _verify_exported_checkpoint(output_dir: Path, *, run_reasoner_check: bool) -> None:
"""Smoke-test the exported checkpoint via single-GPU 'scripts.inference'.
Runs a minimal generation sample (plus a reasoner-image sample when
'run_reasoner_check') and asserts each succeeded with non-empty outputs.
Skips when no CUDA device is available.
"""
import torch
if not torch.cuda.is_available():
log.warning("Skipping --verify: no CUDA device is available on this node.")
return
verify_dir = Path(tempfile.mkdtemp(prefix="export_model_verify_"))
inputs_dir = verify_dir / "inputs"
outputs_dir = verify_dir / "outputs"
inputs_dir.mkdir(parents=True)
# (sample name, output files that must exist and be non-empty)
checks: list[tuple[str, list[str]]] = []
if run_reasoner_check:
from PIL import Image
# Local synthetic image (mirrors inputs/reasoner/reasoner_image.json
# without a network fetch).
image_path = inputs_dir / "verify_image.jpg"
Image.new("RGB", (256, 256), color=(90, 90, 90)).save(image_path)
(inputs_dir / "verify_reasoner_image.json").write_text(
json.dumps(
{
"model_mode": "reasoner",
"prompt": "Describe this image in one short sentence.",
"vision_path": str(image_path),
"seed": 0,
}
)
)
checks.append(("verify_reasoner_image", ["reasoner_text.txt"]))
# Smallest generation the sample schema allows: one 256px square frame.
(inputs_dir / "verify_t2i.json").write_text(
json.dumps(
{
"model_mode": "text2image",
"prompt": "A gray robotic arm on a white table.",
"resolution": "256",
"aspect_ratio": "1,1",
"num_frames": 1,
"seed": 0,
}
)
)
checks.append(("verify_t2i", ["vision.jpg"]))
cmd = [
sys.executable,
"-m",
"cosmos_framework.scripts.inference",
"--parallelism-preset=latency",
# Guardrails pull their own HF models (nvidia/Cosmos-Guardrail1) — an
# orthogonal hub dependency that would break offline/cache-only verify.
"--no-guardrails",
"--checkpoint-path",
str(output_dir),
"-o",
str(outputs_dir),
"-i",
*(str(inputs_dir / f"{name}.json") for name, _ in checks),
]
env = {k: v for k, v in os.environ.items() if k not in _VERIFY_ENV_EXCLUDE and not k.startswith("TORCHELASTIC_")}
log.info(f"Verifying exported checkpoint: {shlex.join(cmd)}")
result = subprocess.run(cmd, env=env)
failures: list[str] = []
if result.returncode != 0:
failures.append(f"inference subprocess exited with code {result.returncode}")
for name, output_files in checks:
sample_dir = outputs_dir / name
sample_outputs_file = sample_dir / "sample_outputs.json"
if sample_outputs_file.is_file():
try:
sample_outputs = json.loads(sample_outputs_file.read_text())
except (json.JSONDecodeError, UnicodeDecodeError) as e:
# A truncated/corrupt file is a verify failure, not a crash.
sample_outputs = None
failures.append(f"sample '{name}' wrote a corrupt sample_outputs.json ({e})")
if sample_outputs is not None:
status = sample_outputs.get("status") if isinstance(sample_outputs, dict) else None
if status != "success":
failures.append(f"sample '{name}' finished with status '{status}'")
else:
failures.append(f"sample '{name}' wrote no sample_outputs.json")
for output_file in output_files:
output_path = sample_dir / output_file
if not output_path.is_file() or output_path.stat().st_size == 0:
failures.append(f"sample '{name}' output '{output_file}' is missing or empty")
elif output_path.suffix == ".txt" and not output_path.read_text().strip():
failures.append(f"sample '{name}' output '{output_file}' is blank")
elif output_path.suffix == ".jpg":
# Heuristic NaN check: NaN latents decode through clamp() into a
# valid, non-empty, constant (all-black/uniform) JPEG with status
# 'success' — catch that class via (near-)zero pixel variance.
# See 'constant_image_failure'; not a general quality gate.
import numpy as np
from PIL import Image
try:
with Image.open(output_path) as image:
pixels = np.asarray(image.convert("RGB"))
except Exception as e:
failures.append(f"sample '{name}' output '{output_file}' is not a readable image ({e})")
else:
image_failure = constant_image_failure(pixels)
if image_failure is not None:
failures.append(f"sample '{name}' output '{output_file}' {image_failure}")
if failures:
raise RuntimeError(
f"--verify failed for '{output_dir}' (the export artifacts were still written): "
+ "; ".join(failures)
+ f". Inspect '{verify_dir}'."
)
log.success(f"Verified exported checkpoint '{output_dir}'")
shutil.rmtree(verify_dir, ignore_errors=True)
def export_model(args: Args) -> None:
register_checkpoints()
checkpoint_args = args.checkpoint.build_checkpoint(checkpoints={})
args.output_dir.mkdir(parents=True, exist_ok=True)
if not args.config_only and is_rank0():
# Re-export into the same -o dir: drop artifacts a prior export may have
# left (stale vision_encoder/ bundle, stale processor files, stale
# manifest) so the dir always reflects THIS export — inference prefers
# those files local-first and would silently load a stale tower.
removed = clean_stale_export_artifacts(args.output_dir)
if removed:
log.info(f"Removed stale artifacts of a previous export from '{args.output_dir}': {', '.join(removed)}")
# Load config
log.info("Loading config...")
model_dict = checkpoint_args.load_model_config_dict()
if not model_dict["config"]["ema"]["enabled"]:
checkpoint_args.use_ema_weights = False
model_dict["config"]["ema"]["enabled"] = False
is_edge = is_edge_model(model_dict)
# Cosmos3 Edge action policies need the diffusers converter's `policy` block
# (action_chunk_size / conditioning_fps / domain_name) in checkpoint.json.
# Only action Edge models carry an action dataloader; non-action Edge exports
# (e.g. Edge SFT video recipes) skip this and stay unaffected.
edge_policy_metadata = (
_build_edge_policy_metadata(checkpoint_args.load_config())
if is_edge and model_dict["config"].get("action_gen")
else None
)
if not args.vit:
# Text/gen-only export: write include_visual=False into the exported model
# config so inference skips visual-tower construction instead of dying on
# missing 'model.net.language_model.visual.*' keys.
if set_include_visual(model_dict, False):
log.info("Exporting with include_visual=False (--no-vit)")
else:
log.warning("Could not set include_visual=False: model config has no 'create_vlm_config' node")
# Download VLM checkpoint. Skipped under --config-only (no downloads are
# needed to export a config).
vlm_checkpoint_path: str | None = None
vit_repo: str | None = None
if args.vit and not args.config_only:
configured_vlm_checkpoint = model_dict["config"]["vlm_config"]["pretrained_weights"]["backbone_path"]
resolved_repositories: list[str] = []
def download_vlm_checkpoint(configured_uri: str) -> str:
sanitized_uri = sanitize_uri(configured_uri)
checkpoint: CheckpointConfig | None = CheckpointConfig.maybe_from_uri(sanitized_uri)
if checkpoint is None:
raise ValueError(
f"VLM backbone checkpoint URI '{configured_uri}' is not in the checkpoint "
"registry, so the vision tower cannot be resolved automatically. Either "
"export without vision weights (--no-vit), or pass "
"--vit-checkpoint-path <local snapshot dir> pointing at a local "
"Hugging Face snapshot that contains them."
)
resolved_repositories.append(checkpoint.hf.repository)
if is_edge and isinstance(checkpoint.hf, CheckpointDirHf) and not checkpoint.hf.include:
# Narrow the Edge download to the ViT bundle (~1 GB) instead of
# the full repo (tens of GB). Done at this call site, not on the
# registry entry: that entry has no include filter because
# training's backbone seeding needs the full repo. Qwen-family
# exports keep the full snapshot (the ViT merge reads the root
# safetensors).
narrowed = checkpoint.hf.model_copy(update={"include": EDGE_VIT_BUNDLE_HF_INCLUDE})
return narrowed.download()
return checkpoint.hf.download()
vlm_checkpoint_path = resolve_vision_checkpoint_path(
local_path=str(args.vit_checkpoint_path) if args.vit_checkpoint_path is not None else None,
configured_uri=configured_vlm_checkpoint,
download_checkpoint=download_vlm_checkpoint,
)
vit_repo = resolved_repositories[0] if resolved_repositories else str(args.vit_checkpoint_path)
# Load model
log.info("Loading model...")
_coerce_to_base_model(model_dict)
hf_config = Cosmos3OmniConfig(model=build_public_model_config(model_dict))
hf_config.save_pretrained(args.output_dir)
hf_model = Cosmos3OmniModel(hf_config)
# Save model
log.info("Saving model...")
vision_tower_source: dict[str, Any] | None = None
processor_source: dict[str, Any] | None = None
if not args.config_only:
# Load checkpoint
if checkpoint_args.checkpoint_path.startswith("s3://"):
storage_reader = S3StorageReader(
credential_path=checkpoint_args.credential_path,
path=checkpoint_args.checkpoint_path,
)
else:
storage_reader = FileSystemReader(checkpoint_args.checkpoint_path)
state_dict = get_model_state_dict(hf_model.model)
dcp.load(
state_dict=state_dict,
storage_reader=storage_reader,
planner=CustomLoadPlanner(
load_ema_to_reg=checkpoint_args.use_ema_weights,
),
)
state_dict = get_model_state_dict(
hf_model,
options=StateDictOptions(
full_state_dict=True,
cpu_offload=True,
),
)
if not is_rank0():
return
# Attach the vision tower
if args.vit:
assert vlm_checkpoint_path is not None
assert vit_repo is not None
if is_edge:
# Edge bundle mode: the SigLIP2 tower is a self-contained
# 'vision_encoder/' artifact that inference loads lazily (see
# Nemotron3DenseVLTextForCausalLM._ensure_vision_tower); copy it
# verbatim (incl. 'model.projector.*') instead of merging into the
# root safetensors.
if any(key.startswith(_INTERNAL_VISUAL_PREFIX) for key in state_dict):
# DCP-first: never clobber a trained in-DCP tower.
log.warning(
"DCP checkpoint unexpectedly contains a vision tower "
f"('{_INTERNAL_VISUAL_PREFIX}*'); keeping the in-DCP weights and "
"skipping the vision_encoder/ bundle copy."
)
else:
vision_encoder_dir, snapshot_root = resolve_vision_bundle_dirs(Path(vlm_checkpoint_path))
bundle_vision_encoder(vision_encoder_dir, snapshot_root, args.output_dir)
vision_tower_source = build_artifact_source(
repo=vit_repo, resolved_path=vlm_checkpoint_path, bundled=True
)
log.info(f"Bundled vision_encoder/ from '{vlm_checkpoint_path}'")
if snapshot_root is not None:
copied = bundle_processor_files(snapshot_root, args.output_dir)
if copied:
processor_source = build_artifact_source(
repo=vit_repo, resolved_path=vlm_checkpoint_path, bundled=True
)
log.info(f"Bundled processor files: {', '.join(copied)}")
else:
# Qwen family: merge the ViT weights into the root safetensors.
vit_state_dict = _load_safetensor_weights(
Path(vlm_checkpoint_path), lambda x: x.startswith("model.visual.")
)
assert vit_state_dict, "No vision weights found"
state_dict.update(_rewrite_visual_fqns_for_vfm(vit_state_dict))
vision_tower_source = build_artifact_source(
repo=vit_repo, resolved_path=vlm_checkpoint_path, bundled=False
)
# Bundle processor/tokenizer files for every export ('--no-vit' too:
# generation-only inference still tokenizes prompts through the VLM
# processor). Skipped when the Edge --vit path above already bundled
# them. Best-effort: failures log a warning and leave processor_source
# None; the export itself never fails on this.
if processor_source is None:
processor_source = bundle_processor_from_tokenizer_node(
(model_dict["config"].get("vlm_config") or {}).get("tokenizer"), args.output_dir
)
# Save checkpoint
hf_model.save_pretrained(
args.output_dir,
state_dict=state_dict,
)
# Re-write 'config.json' to apply replacements.
hf_config_file = args.output_dir / "config.json"
hf_config_json = json.loads(hf_config_file.read_text())
if args.student_only_checkpoint_metadata:
sanitize_student_public_model_config(hf_config_json["model"])
hf_config_json["model_type"] = "cosmos3_omni"
serialize_config_dict(hf_config_json, hf_config_file)
# Write the provenance sidecar (kept separate from 'checkpoint.json', whose
# schema is checkpoint_args.model_dump).
export_args: dict[str, Any] = {
"config_only": args.config_only,
"student_only_checkpoint_metadata": args.student_only_checkpoint_metadata,
"verify": args.verify,
"vit": args.vit,
"vit_checkpoint_path": str(args.vit_checkpoint_path) if args.vit_checkpoint_path is not None else None,
}
if args.student_only_checkpoint_metadata:
# 'checkpoint.json' is scrubbed of local paths in this mode; the
# manifest must not leak them through 'export_args' either. The
# repo@revision provenance in '*_source' stays untouched.
export_args = sanitize_export_args(export_args)
manifest = build_export_manifest(
vision_tower_source=vision_tower_source,
processor_source=processor_source,
export_args=export_args,
framework_commit=read_framework_commit(),
)
serialize_config_dict(manifest, args.output_dir / "export_manifest.json")
# Write 'checkpoint.json' last to indicate that the model is complete.
checkpoint_metadata = (
build_student_checkpoint_metadata(use_ema_weights=checkpoint_args.use_ema_weights)
if args.student_only_checkpoint_metadata
else checkpoint_args.model_dump(mode="json")
)
if edge_policy_metadata is not None:
checkpoint_metadata["policy"] = edge_policy_metadata
serialize_config_dict(checkpoint_metadata, args.output_dir / "checkpoint.json")
print(f"Saved model to {args.output_dir}")
if args.verify:
if args.config_only:
log.warning("--verify skipped: --config-only exports nothing to verify")
return
# The reasoner-image check needs a checkpoint whose reasoner can encode
# vision prompts: Edge always can (lazy tower); Qwen-family (Nano/Super)
# only with include_visual truthy — the shipped SFT configs leave it
# unset, and the sample-build fail-fast correctly rejects the vision
# sample there, so gating on args.vit alone would fail healthy exports.
run_reasoner_check = args.vit and reasoner_vision_capable(model_dict)
if args.vit and not run_reasoner_check:
log.info(
"--verify: skipping the reasoner-image check — the exported reasoner LM has no visual "
"tower (model config 'include_visual' is falsy); the generation check still runs."
)
# Runs only after every export artifact is written: verify is a check,
# not a gate, and a failure exits non-zero without touching the export.
_verify_exported_checkpoint(args.output_dir, run_reasoner_check=run_reasoner_check)
def main() -> None:
args = tyro_cli(Args, description=__doc__, config=(tyro.conf.OmitArgPrefixes,))
export_model(args)
if __name__ == "__main__":
main()