Evaluating Cosmos Policy

---
name: evaluating-cosmos-policy
description: 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.
version: 1.0.0
author: Orchestra Research
license: MIT
tags: [Cosmos Policy, VLA, Robotics, LIBERO, RoboCasa, Simulation, Evaluation, Profiling, EGL Rendering]
dependencies: [torch>=2.1.0, mujoco>=3.0.0, robosuite>=1.4.0, "robocasa @ git+https://github.com/moojink/robocasa-cosmos-policy.git", transformers>=4.40.0, "cosmos-policy @ git+https://github.com/NVlabs/cosmos-policy.git"]
---

# 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 \
    --use_wrist_image True \… load the full skill through Skill Me