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evaluating-cosmos-policy

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Evaluates NVIDIA Cosmos Policy on LIBERO and RoboCasa simulation environments. Use when setting up cosmos-policy for robot manipulation evaluation, running headless GPU evaluations with EGL rendering, or profiling inference latency on cluster or local GPU machines.

18-multimodal/cosmos-policy/SKILL.md

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# 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:

```bash
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 \
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