Cosmos World Foundation Model Platform for Physical AI

Physical AI needs to be trained digitally first. It needs a digital twin of itself, the policy model, and a digital twin of the world, the world model. In this paper, we present the Cosmos World Foundation Model Platform to help developers build customized world models for their Physical AI setups. We position a world foundation model as a general-purpose world model that can be fine-tuned into customized world models for downstream applications. Our platform covers a video curation pipeline, pre-trained world foundation models, examples of post-training of pre-trained world foundation models, and video tokenizers. To help Physical AI builders solve the most critical problems of our society, we make our platform open-source and our models open-weight with permissive licenses available via https://github.com/NVIDIA/Cosmos.

DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning

Running optimization across many parallel seeds leveraging GPU compute have relaxed the need for a good initialization, but this can fail if the problem is highly non-convex as all seeds could get stuck in local minima. One such setting is collision-free motion optimization for robot manipulation, where optimization converges quickly on easy problems but struggle in obstacle dense environments (e.g., a cluttered cabinet or table). In these situations, graph-based planning algorithms are used to obtain seeds, resulting in significant slowdowns. We propose DiffusionSeeder, a diffusion based approach that generates trajectories to seed motion optimization for rapid robot motion planning. DiffusionSeeder takes the initial depth image observation of the scene and generates high quality, multi-modal trajectories that are then fine-tuned with a few iterations of motion optimization. We integrate DiffusionSeeder to generate the seed trajectories for cuRobo, a GPU-accelerated motion optimization method, which results in 12x speed up on average, and 36x speed up for more complicated problems, while achieving 10% higher success rate in partially observed simulation environments. Our results show the effectiveness of using diverse solutions from a learned diffusion model. Physical experiments on a Franka robot demonstrate the sim2real transfer of DiffusionSeeder to the real robot, with an average success rate of 86% and planning time of 26ms, improving on cuRobo by 51% higher success rate while also being 2.5x faster.

RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot behavior, VLMs struggle to precisely articulate robot actions using language. We introduce an automatic synthetic data generation pipeline that instruction-tunes VLMs to robotic domains and needs. Using the pipeline, we train RoboPoint, a VLM that predicts image keypoint affordances given language instructions. Compared to alternative approaches, our method requires no real-world data collection or human demonstration, making it much more scalable to diverse environments and viewpoints. In addition, RoboPoint is a general model that enables several downstream applications such as robot navigation, manipulation, and augmented reality (AR) assistance. Our experiments demonstrate that RoboPoint outperforms state-of-the-art VLMs (GPT-4o) and visual prompting techniques (PIVOT) by 21.8% in the accuracy of predicting spatial affordance and by 30.5% in the success rate of downstream tasks. Project website: https://robo-point.github.io.

M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place

With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language commands, but they often have difficulties generalizing to out-of-distribution objects due to the inability of low-level action primitives. In contrast, existing task-specific models excel in low-level manipulation of unknown objects, but only work for a single type of action. To bridge this gap, we present M2T2, a single model that supplies different types of low-level actions that work robustly on arbitrary objects in cluttered scenes. M2T2 is a transformer model which reasons about contact points and predicts valid gripper poses for different action modes given a raw point cloud of the scene. Trained on a large-scale synthetic dataset with 128K scenes, M2T2 achieves zero-shot sim2real transfer on the real robot, outperforming the baseline system with state-of-the-art task-specific models by about 19% in overall performance and 37.5% in challenging scenes where the object needs to be re-oriented for collision-free placement. M2T2 also achieves state-of-the-art results on a subset of language conditioned tasks in RLBench. Videos of robot experiments on unseen objects in both real world and simulation are available on our project website https://m2-t2.github.io.

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday environments, such as cabinets and shelves. We render synthetic partial point clouds from this data and use it to train our CabiNet model architecture. CabiNet is a collision model that accepts object and scene point clouds, captured from a single-view depth observation, and predicts collisions for SE(3) object poses in the scene. Our representation has a fast inference speed of 7 microseconds per query with nearly 20% higher performance than baseline approaches in challenging environments. We use this collision model in conjunction with a Model Predictive Path Integral (MPPI) planner to generate collision-free trajectories for picking and placing in clutter. CabiNet also predicts waypoints, computed from the scene's signed distance field (SDF), that allows the robot to navigate tight spaces during rearrangement. This improves rearrangement performance by nearly 35% compared to baselines. We systematically evaluate our approach, procedurally generate simulated experiments, and demonstrate that our approach directly transfers to the real world, despite training exclusively in simulation. Robot experiment demos in completely unknown scenes and objects can be found at this http https://cabinet-object-rearrangement.github.io

Constrained Generative Sampling of 6-DoF Grasps

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part on the object body while avoiding other locations, such as the cap. In this work, we present a generative grasp sampling network, VCGS, capable of constrained 6-Degrees-of-Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10-15% higher grasp success rate than the baseline while being 2-3 times as sample efficient.

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii) a CAD model of the observed object. The contributions of this work are threefold. First, we present a 6D pose refiner based on a render&compare strategy which can be applied to novel objects. The shape and coordinate system of the novel object are provided as inputs to the network by rendering multiple synthetic views of the object's CAD model. Second, we introduce a novel approach for coarse pose estimation which leverages a network trained to classify whether the pose error between a synthetic rendering and an observed image of the same object can be corrected by the refiner. Third, we introduce a large-scale synthetic dataset of photorealistic images of thousands of objects with diverse visual and shape properties and show that this diversity is crucial to obtain good generalization performance on novel objects. We train our approach on this large synthetic dataset and apply it without retraining to hundreds of novel objects in real images from several pose estimation benchmarks. Our approach achieves state-of-the-art performance on the ModelNet and YCB-Video datasets. An extensive evaluation on the 7 core datasets of the BOP challenge demonstrates that our approach achieves performance competitive with existing approaches that require access to the target objects during training. Code, dataset and trained models are available on the project page: https://megapose6d.github.io/.

Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the difficulty of generating high quality training data. In this work, we propose a learning system (ISAGrasp) for leveraging a small number of human demonstrations to bootstrap the generation of a much larger dataset containing successful grasps on a variety of novel objects. Our key insight is to use a correspondence-aware implicit generative model to deform object meshes and demonstrated human grasps in order to generate a diverse dataset of novel objects and successful grasps for supervised learning, while maintaining semantic realism. We use this dataset to train a robust grasping policy in simulation which can be deployed in the real world. We demonstrate grasping performance with a four-fingered Allegro hand in both simulation and the real world, and show this method can handle entirely new semantic classes and achieve a 79% success rate on grasping unseen objects in the real world.

DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations

Teaching a multi-fingered dexterous robot to grasp objects in the real world has been a challenging problem due to its high dimensional state and action space. We propose a robot-learning system that can take a small number of human demonstrations and learn to grasp unseen object poses given partially occluded observations. Our system leverages a small motion capture dataset and generates a large dataset with diverse and successful trajectories for a multi-fingered robot gripper. By adding domain randomization, we show that our dataset provides robust grasping trajectories that can be transferred to a policy learner. We train a dexterous grasping policy that takes the point clouds of the object as input and predicts continuous actions to grasp objects from different initial robot states. We evaluate the effectiveness of our system on a 22-DoF floating Allegro Hand in simulation and a 23-DoF Allegro robot hand with a KUKA arm in real world. The policy learned from our dataset can generalize well on unseen object poses in both simulation and the real world

ProgPrompt: Generating Situated Robot Task Plans using Large Language Models

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even generate action sequences directly, given an instruction in natural language with no additional domain information. However, such methods either require enumerating all possible next steps for scoring, or generate free-form text that may contain actions not possible on a given robot in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io