deps: use natten gb300 (sm_103) wheel for x86_64 cu130#84
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On x86_64 the cu130 group pinned the stock natten wheel, which lacks sm_103a kernels and fails with 'no kernel image available' on B300/GB300. Point x86_64 at the +cu130.torch210.gb300 build (nvidia-cosmos/cosmos-dependencies#60), mirroring the existing aarch64 entry. Regenerated uv.lock. Verified end-to-end: Cosmos3-Nano t2i inference on B300 (sm_103) succeeds. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
lfengad
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* Add Docker build CI workflow (NVIDIA#73) Co-authored-by: Xiangyu Lu <xiangyl@nvidia.com> * Release: sync from i4 (vlm → reasoner rename) + inference/config fixes (NVIDIA#70) Upstream i4 refactor `4190136a09` renamed `projects/cosmos3/vfm/` to `projects/cosmos3/cosmos3/` and moved the `vlm/` subtree to `reasoner/` under configs/base, models, datasets, and utils. This release re-runs the release pipeline against that new source layout and cleans up CF-side knock-on damage. Highlights: * Release pipeline output: 459 files mapped from the new i4 layout. Files added under `cosmos_framework/**/reasoner/`; the old `cosmos_framework/**/vlm/` counterparts are removed (orphan cleanup). Also ships `callbacks/tokens_per_sec.py`, `model/tokenizer/utils/vlm_prompt_format.py`, a new `configs/base/defaults/experimental/`-excluded layout, and refreshed `data/vfm/augmentors/reasoner/*` etc. * CF-owned config move: `configs/base/vlm/{defaults,experiment}/*.py` moved to `configs/base/reasoner/{defaults,experiment}/` (5 files), with imports rewritten `cosmos_framework.configs.base.vlm.` → `cosmos_framework.configs.base.reasoner.` so `task="vlm"` still finds a live experiment tree. * `configs/toml_config/toml_config_helper.py`: retarget `task="vlm"` → `cosmos_framework/configs/base/reasoner/config.py`. * Inference config rewriters (`inference/common/config.py`, `inference/common/public_model_config.py`): add `vlm` → `reasoner` rewrite rules ahead of the general vfm rules so old checkpoint JSONs (which still ship `cosmos3._src.vfm.configs.base.defaults.vlm.*` targets) resolve to the new module paths at load time. * `configs/base/experiment/sft/models/{nano,super}_model_config.py` and the `inference/configs/model/Cosmos3-{Nano,Super}.yaml` + `examples/checkpoints/Cosmos3-Nano/model/config.json`: drop the removed `DiffusionExpertConfig` fields (`position_embedding_type`, `rope_{h,t,w}_extrapolation_ratio`) and retarget the shipped Qwen3-VL JSON path to the `reasoner/` layout. * `inference/common/public_model_config_test.py`: update stale `vlm` paths in the round-trip test fixture. * `model/vfm/mot/unified_mot_test.py`: removed (tested private helpers `_PACKAGE_ROOT` / `_resolve_packaged_config_path` that were refactored out of `unified_mot.py`). Testing (4 × NVIDIA GB200 node): * `test_launch_regression[vision_sft_nano]`: 10-iter losses match gb200 goldens exactly. * `test_launch_regression[llava_ov]`: trains 10 iters end to end; loss drifts vs. 2026-05-18 gb200 goldens (goldens need recapture). * `nano_reasoner_inference_smoke_test`: inference runs cleanly; argmax hard-gate passes; tight allclose (rtol=atol=1e-3) fails by bf16 noise vs. presumably-H100 goldens. * Unit suite (`--num-gpus=0 --levels=0`): 327 passed / 1 failed (the failure is the `convert_model_to_dcp` script test, which needs `HF_TOKEN` for the private `nvidia/Cosmos3-Experimental` snapshot). --------- Co-authored-by: lfengad <liangf@nvidia.com> * [Cosmos3 OSS]Add more action datasets (NVIDIA#72) Dataset support added: 1. Fractal (FractalLeRobotDataset class) 2. RoboMind Frank dual arm (through existing RoboMINDFrankaDataset class) 3. RoboMind UR (RoboMINDURDataset class) Other changes: 1. Add corresponding stats files for the newly added datasets 2. Folder structure refactor (minor) --------- Co-authored-by: lfengad <liangf@nvidia.com> * Add Cosmos3-Nano LIBERO-10 action-policy SFT recipe, config, eval harness, and doc (NVIDIA#61) ## What Adds the **Cosmos3-Nano LIBERO-10 action-policy SFT** surface, mirroring the existing DROID counterpart (`action_policy_droid_nano` + toml + launcher + doc). ### Feature (net-new) - **Experiment configs** `action_policy_libero_nano` (libero_10-only) and `action_policy_libero_all_nano` (equal 4-suite mix) — gen + action heads from the public Cosmos3-Nano base. - **Dataset** `LIBEROLeRobotDataset` + `get_action_libero_sft_dataset` — frame_wise_relative rot6d, `quantile_rot`, concat_view (third-person + wrist), 20 fps. - `base_dataset` `tasks.parquet` fallback for community LIBERO layouts. - Resample-on-decode-failure guard so one undecodable packed-mp4 frame can't crash a multi-node run (matches i4 behavior). - **Closed-loop eval harness** with vectorized sim, batched `/predict_batch`, single-rank `no_dist` checkpoint load. - **Structured-prompt serving** in the policy server (`--format-prompt-as-json`), so eval matches the training prompt format; the recipe defaults to it. ### Recipe + doc — two presets (to match the Cosmos3 LIBERO-10 result) Both lr 5e-5, warmup 500, cycle 16000, global batch 2048 (HSDP 2x8): - **(A) libero_10-only** — `action_policy_libero_repro.toml` + `launch_sft_action_policy_libero.sh` (max_iter 2000). - **(B) libero-all (4-suite equal mix)** — `action_policy_libero_all_repro.toml` + `launch_sft_action_policy_libero_all.sh` (max_iter 5000; `LIBERO_ROOT` = LIBERO_LeRobot_v3 parent dir). - `docs/action_policy_libero_sft.md` documents both. ## Notes - Scoped to LIBERO only; broader action-dataloader/model changes are intentionally not included here. - Based on `main`. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * Remove eval CLI references (NVIDIA#5) Co-authored-by: Xiangyu Lu <xiangyl@nvidia.com> Co-authored-by: lfengad <liangf@nvidia.com> * Add multi-control transfer inference smoke test (NVIDIA#77) ## What Adds `test_nano_inference_multi_control_transfer` to `tests/nano_inference_smoke_test.py`, giving the Cosmos3-Nano generator inference smoke test coverage for the **multi-control transfer** feature (two control hints blended by `multi_control_two_way_attention`). It mirrors the existing single-control transfer run (same `latency` preset, 4 ranks → cfgp=2/cp=2), but the generated spec sets **two** hints (`edge` + `blur`) with per-hint `weight` and **no** `control_path`, so both controls are computed on the fly from a single `vision_path` (the pinned public `robot_pouring.mp4` clip) and aggregated by the weighted N-pass multi-control attention. ## What it verifies - **Multi-control path executes**: 2 hints → `control_weights` set → the network routes to `multi_control_two_way_attention` (both controls computed on the fly). - **Process stays within expected invariants**: the framework's multi-control runtime asserts (weights length == #controls, packing consistency, batch_size==1) must hold or the run exits non-zero → the test fails. Plus the test's own asserts: exactly one output; both `edge` and `blur` active with a `weight` and no `control_path`; `vision_path` set; `control_guidance` and `guidance` > 1.0. - **Output is valid**: non-degenerate `vision.mp4` via the existing `_assert_video_has_content` (≥16 frames, finite pixels, pixel std > 3). Smoke-level (output validity + path executed under asserts), not numeric goldens — consistent with the rest of the module. ## Test Runs on the same 8-GPU gate as `test_nano_inference_omni`: ``` pytest -s tests/nano_inference_smoke_test.py --num-gpus=8 --levels=2 -o addopts= ``` Verified end to end on a 4-rank `latency` run (exit 0; log shows both `Computing edge control input on the fly` and `Computing blur control input on the fly`; all assertions pass). Collection confirmed both tests register (`MAX_GPUS=8`). 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * Lazily import `lerobot` in datasets. (NVIDIA#76) `lerobot` is a heavy package that pins a lot of python packages. We can lazily import it to support a lightweight env setup. Signed-off-by: Hong-Yu Chiu <hongyuc@nvidia.com> Co-authored-by: lfengad <liangf@nvidia.com> * Release: vfm → generator, vlm → reasoner dest rename (moves + import … (NVIDIA#78) …paths only) Follow-up to the initial vlm→reasoner sync (PR NVIDIA#70) — this PR renames the top-level CF dest folders and rewrites every import that references them. Contents are strictly file relocations + path-string rewrites; no code-behavior edits. Dest-folder rename: * cosmos_framework/data/vfm/ → cosmos_framework/data/generator/ * cosmos_framework/model/vfm/ → cosmos_framework/model/generator/ * cosmos_framework/utils/vfm/ → cosmos_framework/utils/generator/ * cosmos_framework/data/vlm/ → cosmos_framework/data/reasoner/ * cosmos_framework/utils/vlm/ → cosmos_framework/utils/reasoner/ * cosmos_framework/configs/base/vlm/{defaults,experiment}/ → cosmos_framework/configs/base/reasoner/{defaults,experiment}/ Import-path rewrites — every reference under ``cosmos_framework.{model,data,utils}.{vfm,vlm}.*`` and ``cosmos_framework.configs.base.vlm.*`` is retargeted to the new module names, in: * Release-managed files produced by cosmos-framework-release. * CF-owned production code (inference/, callbacks/, configs/, model/, utils/, data/generator/*/, data/reasoner/*/, tools/, scripts/). * Runtime rewriters: cosmos_framework/inference/common/config.py::CONFIG_REPLACEMENTS_INVERSE and cosmos_framework/inference/common/public_model_config.py (``_canonicalize_module_path``, ``_replace_vfm_module_prefix``, ``_replace_vfm_file_prefix``, ``_module_exists`` probes, {package}-templated dest strings) — old checkpoint JSONs' canonical ``cosmos3._src.vfm.*`` / ``projects.cosmos3.vfm.*`` target strings now map to the new module locations at load time. Verified: * Fresh AST-walker sweep across ``cosmos_framework/`` → **0 dangling ``cosmos_framework.*`` imports**. * Every ``M`` (modified-content) file's diff is verified path-only (each +/- line contains a ``vfm|vlm|generator|reasoner`` substring or is whitespace). * Every ``R`` is a git-detected rename. * 4-GPU GB200 regression: ``test_launch_regression[vision_sft_nano]`` passes and matches gb200 goldens exactly. * Unit suite (venv Python 3.13): 327 passed / 1 failed (the failure is the ``convert_model_to_dcp`` script test, which needs ``HF_TOKEN`` for the private ``nvidia/Cosmos3-Experimental`` snapshot — not fixable in-repo). * Convert Cosmos3-Nano vision tower in reasoner VLM export + fix public-alias remap (NVIDIA#79) ## Summary Fixes two issues in the Reasoner / VideoPhy-2 SFT "Step 2" checkpoint prep (`convert_model_to_vlm_safetensors`), so the exported VLM is fully sourced from Cosmos3-Nano, and adds a regression test. ### 1. Fix `vlm`→`reasoner` remap for public-alias file paths (`public_model_config.py`) The i4 `vlm`→`reasoner` rename was applied to the module-path remap helpers but **not** to their file-path siblings. The current released `nvidia/Cosmos3-Nano` snapshot stores paths as public URIs (`cosmos3://vfm/models/vlm/qwen3_vl/configs/...`), which route through the file-path helpers and resolved to a non-existent `cosmos_framework/model/vfm/vlm/qwen3_vl/...`, crashing checkpoint load with `FileNotFoundError`. This affects loading the released checkpoint generally (not just the converter). Added the missing `vlm`↔`reasoner` rules to both `_replace_vfm_file_prefix` (public→runtime) and `_public_string_from_runtime_file_prefix` (runtime→public), mirroring the module-path helpers; the public↔runtime round-trip is stable. ### 2. Convert the Cosmos3-Nano vision tower (`convert_model_to_vlm_safetensors.py`) The converter previously extracted only the language model and left the visual tower as the **stock Qwen3-VL** weights — because the generation model instantiates no `visual` submodule, so the 351 `vision_encoder/` tensors never appear in its state dict. Now the visual tower is loaded directly from the checkpoint's `vision_encoder/` shards (`_load_vision_state`) and overlaid as `model.visual.*`. Checkpoints without a vision tower (Text2Image / Image2Video) keep Qwen3-VL's tower unchanged. The merged export is now 100% Cosmos3-Nano-sourced (399 LM + 351 visual). ### 3. Regression test (`tests/launch_regression_test.py`) `test_convert_reasoner_converts_all_qwen_tensors` asserts: 1. merged tensor set == stock Qwen3-VL set (all included, none extra); 2. every `model.visual.*` tensor matches the Cosmos3-Nano `vision_encoder/` source bit-for-bit; 3. a non-trivial subset differs from stock Qwen3-VL (so it catches the vision-drop regression — not a no-op); 4. the language tower was overlaid too. The ~16 GB output is regenerated per run and removed via a finalizer; inputs stay in the shared HF cache. ## Test plan - ✅ New test passes on a 4-GPU node: `1 passed`, `351 visual tensors all sourced from Cosmos3-Nano; 309 differ from stock Qwen3-VL`, output cleaned up (basetemp 13K after finalizer). - ✅ End-to-end: VideoPhy-2 Reasoner SFT loads `750 keys` from the merged checkpoint and trains cleanly across 4 GPUs (loss ~0.66→~0.15 over 20 iters). - ✅ Existing `public_model_config_test.py` still passes; public↔runtime round-trip verified stable. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> * [Cosmos3 OSS] Fix RoboMind Dataset (NVIDIA#81) Fix RoboMind Dataset - RoboMINDFrankaDataset supports loading from both `robomind-franka` and `robomind-franka-dual`, but it only load `norm_stats` for `robomind-franka-dual` - With this fix it will load `norm_stats` for `robomind-franka-dual` or `robomind-franka depends on the embodiment_type. * Fix multi-control transfer: honor control weights under torch.compile (NVIDIA#82) ## Summary Multi-control transfer inference silently ignored per-control weights. ## Changes - **`omni_mot_model.py`**: propagate `control_weights` into `gen_data_for_packing` - **`attention.py`**: make `multi_control_two_way_attention` `torch.compile`-safe. Its per-segment lengths come from data-dependent unpadding (unbacked symints), which tripped several Dynamo guards under `fullgraph=True`: - `torch._check(k.shape[0] == v.shape[0])` — frontend K/V-length guard - `torch._check(n_q > 0)` / `torch._check(n_kv > 0)` — NATTEN `max_seqlen == 0` / `< 1` varlen guards - `torch._check(n_full == noisy_e)` — makes per-segment `[cs:ce]` slices concrete-length, fixing the in-place write shape guard - pass `cumulative_seqlen_{Q,KV}` + `max_seqlen_{Q,KV}` instead of `seqlens_{Q,KV}` to avoid the disallowed `generate_varlen_parameters` device-host sync inside the compiled region ## Test plan - [x] PAI-Bench-C multi_control eval runs end-to-end under compiled attention (previously crashed with data-dependent Dynamo guard errors). - [x] Diagnostics confirm `control_weights` reach the network and the weighted-sum path executes. - [x] A/B check: extreme weights (e.g. edge=1 vs seg=1) now produce different outputs (previously byte-identical). - [x] Single-control transfer paths unaffected (they use the static-shape `two_way_attention`). Co-authored-by: Maosheng Liao <maoshengl@nvidia.com> * Release: sync from internal （clean run) (NVIDIA#83) Standard cosmos-framework-release pipeline run against current main (generator/reasoner dest layout). Brings the latest i4 changes into CF. Highlights: * New leaf helper shipped: cosmos_framework/utils/generator/torchcodec_video.py (mapped via a new [[overrides]] entry — it lives at the top-level projects/cosmos3/utils/, outside the bulk cosmos3/cosmos3/utils mapping, and is imported by the pkl_to_media / reasoner.bytes_to_media augmentors). * New augmentors: data/generator/augmentors/multi_reference_transform.py, torchcodec_callers_test.py. * 13 existing shipped files refreshed to match i4 head. _source_commit (i4): 546faba4 _dest_commit (cf base): 6efeea3 Co-authored-by: lfengad <liangf@nvidia.com> * deps: use natten gb300 (sm_103) wheel for x86_64 cu130 (NVIDIA#84) ## Problem On **x86_64**, the `cu130` dependency group pinned the stock natten wheel `natten==0.21.6.dev6+cu130.torch210`, which does **not** contain `sm_103a` kernels. On B300 / GB300 (compute capability 10.3) this fails at runtime with `no kernel image is available for execution on the device`. ## Change - Point x86_64 cu130 natten at `==0.21.6.dev6+cu130.torch210.gb300`, mirroring the existing aarch64 entry. That build appends `10.3 -> sm_103a` to `NATTEN_CUDA_ARCH`. - Regenerated `uv.lock` (now resolves the x86_64 gb300 wheel, sha256 `04ace5d5…`). The wheel is published in the cosmos index via nvidia-cosmos/cosmos-dependencies#60. ## Verification - `uv lock --check` passes (lock consistent with pyproject). - End-to-end: `Cosmos3-Nano` t2i inference on a B300 (sm_103) completes successfully — 960×960 image generated, no "no kernel image" error. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: lfengad <liangf@nvidia.com> * Allow config aliases as public targets (NVIDIA#4) Co-authored-by: Xiangyu Lu <xiangyl@nvidia.com> --------- Signed-off-by: Hong-Yu Chiu <hongyuc@nvidia.com> Co-authored-by: Xiangyu Lu <169013972+xlu451@users.noreply.github.com> Co-authored-by: Xiangyu Lu <xiangyl@nvidia.com> Co-authored-by: yy-code-nv <yangyangt@nvidia.com> Co-authored-by: lfengad <liangf@nvidia.com> Co-authored-by: Liangkai Zhang <liangkaiz@nvidia.com> Co-authored-by: LiangHao <hliangac@connect.ust.hk> Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Co-authored-by: Hongyu, Chiu <hongyuc@nvidia.com> Co-authored-by: Trung Pham <trungp@nvidia.com> Co-authored-by: Maosheng Liao <maoshengl@nvidia.com> Co-authored-by: pengcuo <pzeren@nvidia.com>
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Problem
On x86_64, the
cu130dependency group pinned the stock natten wheelnatten==0.21.6.dev6+cu130.torch210, which does not containsm_103akernels. On B300 / GB300 (compute capability 10.3) this fails at runtime withno kernel image is available for execution on the device.Change
==0.21.6.dev6+cu130.torch210.gb300, mirroring the existing aarch64 entry. That build appends10.3 -> sm_103atoNATTEN_CUDA_ARCH.uv.lock(now resolves the x86_64 gb300 wheel, sha25604ace5d5…).The wheel is published in the cosmos index via nvidia-cosmos/cosmos-dependencies#60.
Verification
uv lock --checkpasses (lock consistent with pyproject).Cosmos3-Nanot2i inference on a B300 (sm_103) completes successfully — 960×960 image generated, no "no kernel image" error.🤖 Generated with Claude Code