Reproduce “Interactive World Simulation with Cosmos for Physical AI” on OpenResearch
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About this paper
NVIDIA, Anis Ahmad, Jon Allen, Malik Aqeel Anwar, Jesse Archer, Maciej Bala, Piotr Barejko, Aarti Basant and 81 more
The authors adapt pretrained Cosmos 3 into three control-conditioned visual simulators using causal chunks, bounded history, and a four-stage training recipe. The systems predict observations from robot, scene, or driving controls, with an external simulator maintaining physical state in one mode. In a matched 30-case comparison, the final SF-DMD stage improves quality and reference agreement, but its isolated cause and general closed-loop utility remain unestablished.
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