AIBUILDAI-Inc/robot-world-model

Robot World Model (Cosmos-Predict2.5-2B fine-tune)

Built on NVIDIA Cosmos. EMA weights of a fully fine-tuned Cosmos-Predict2.5-2B action-conditioned world model, post-trained on the RT-1 robot manipulation dataset by an AIBuildAI agent, autonomously, in a single 29-hour run on 8x A100.

Official IRASim short-trajectory benchmark (RT-1 test, 4,799 clips): PSNR 25.56, SSIM 0.845 (highest SSIM reported on the benchmark).

Usage, training code, and the official evaluation harness: https://github.com/aibuildai/AI-Build-AI/tree/main/tasks/robot-world-model-post-training

These weights are a derivative model of Cosmos-Predict2.5-2B and are governed by the NVIDIA Open Model License (see NOTICE).