Three fine-tunes of Cosmos3-Edge (3.37 B parameters, 1.42 B trainable; the vision–language tower stays frozen) on LIBERO-10, differing only in which tokens are given to the model as clean conditions during training. Every intermediate checkpoint is included: 1,000 · 2,000 · … · 9,000 iterations, so the whole training trajectory is available, not just the endpoint. A 17-frame clip at 20 fps. Frame 0 is the observation (two 256×256 cameras side by side) and frames 1–16 are the future. The action lane holds 16 tokens, one per future frame, each a 10-D end-effector delta: [Δpos(3), Δrotation as 6-D(6), gripper(1)]. A per-sample prefix length k decides how many action tokens are handed over…
Independent publisher
Jiachen Jiang
jiachenjiang
Models in Library1
Datasets in Library0
Models on Hugging Face4
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Published tasks: Robotics.
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