{"id":102758,"date":"2026-07-08T19:01:59","date_gmt":"2026-07-08T19:01:59","guid":{"rendered":"https:\/\/youzum.net\/nvidias-cosmos-framework-tutorial-designing-a-colab-friendly-miniature-of-cosmos-3-world-models-with-omnimodal-mixture-of-transformers\/"},"modified":"2026-07-08T19:01:59","modified_gmt":"2026-07-08T19:01:59","slug":"nvidias-cosmos-framework-tutorial-designing-a-colab-friendly-miniature-of-cosmos-3-world-models-with-omnimodal-mixture-of-transformers","status":"publish","type":"post","link":"https:\/\/youzum.net\/fr\/nvidias-cosmos-framework-tutorial-designing-a-colab-friendly-miniature-of-cosmos-3-world-models-with-omnimodal-mixture-of-transformers\/","title":{"rendered":"NVIDIA\u2019s Cosmos-Framework Tutorial: Designing a Colab-Friendly Miniature of Cosmos 3 World Models with Omnimodal Mixture-of-Transformers"},"content":{"rendered":"

In this tutorial<\/a>, we explore NVIDIA\u2019s cosmos-framework<\/strong><\/a> <\/strong>from a practical Colab-friendly angle while staying honest about the hardware limits of running real Cosmos 3 checkpoints. We begin by checking the current runtime, GPU capabilities, CUDA availability, memory, and disk space to understand why full Cosmos 3 inference is not realistic on standard Colab hardware. Instead of stopping there, we use the framework\u2019s real structure, CLI surface, input schema, and model modes as the foundation for a hands-on miniature implementation. We then build and train a compact omnimodal Mixture-of-Transformers world model that mirrors the core Cosmos idea: shared cross-modal attention with modality-specific expert routing for text, vision, and action streams. Using synthetic physical-world data, training-loss tracking, and an autoregressive rollout, we show how the model learns relationships across modalities and predicts future latent states in a simplified yet technically meaningful way.<\/p>\n

Probing Colab Hardware Limits<\/strong><\/h2>\n
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import os, sys, json, time, math, textwrap, subprocess, shutil, platform\nfrom pathlib import Path\ndef rule(title=\"\"):\n   line = \"=\" * 86\n   print(\"n\" + line + (\"n  \" + title if title else \"\") + \"n\" + line)\ndef spark(vals, width=60):\n   \"\"\"Tiny ASCII sparkline for a 1-D sequence (works with no plotting libs).\"\"\"\n   if not vals: return \"\"\n   blocks = \"\u2581\u2582\u2583\u2584\u2585\u2586\u2587\u2588\"\n   lo, hi = min(vals), max(vals)\n   rng = (hi - lo) or 1.0\n   step = max(1, len(vals) \/\/ width)\n   s = \"\".join(blocks[min(len(blocks) - 1, int((v - lo) \/ rng * (len(blocks) - 1)))]\n               for v in vals[::step])\n   return s\nrule(\"SECTION 0 \u2014 Environment probe: what you have vs. what Cosmos 3 actually needs\")\nIN_COLAB = \"google.colab\" in sys.modules\nprint(f\"Running inside Google Colab : {IN_COLAB}\")\nprint(f\"Python                      : {platform.python_version()}  ({platform.system()})\")\ntry:\n   import torch\nexcept ModuleNotFoundError:\n   print(\"torch not found \u2014 installing CPU build (a few seconds)...\")\n   subprocess.run([sys.executable, \"-m\", \"pip\", \"install\", \"-q\", \"torch\"], check=False)\n   import torch\nprint(f\"PyTorch                     : {torch.__version__}\")\nCUDA_OK = torch.cuda.is_available()\nDEVICE = torch.device(\"cuda\" if CUDA_OK else \"cpu\")\ngpu_name, gpu_mem_gb, cc = \"None (CPU)\", 0.0, (0, 0)\nif CUDA_OK:\n   p = torch.cuda.get_device_properties(0)\n   gpu_name = p.name\n   gpu_mem_gb = p.total_memory \/ 1024**3\n   cc = torch.cuda.get_device_capability(0)\n   print(f\"CUDA build                  : {torch.version.cuda}\")\n   print(f\"GPU                         : {gpu_name}\")\n   print(f\"GPU memory                  : {gpu_mem_gb:.1f} GiB\")\n   print(f\"Compute capability          : sm_{cc[0]}{cc[1]}\")\ntry:\n   free_gb = shutil.disk_usage('\/').free \/ 1024**3\n   print(f\"Free disk                   : {free_gb:.0f} GiB\")\nexcept Exception:\n   free_gb = 0.0\nAMPERE = cc[0] >= 8\nreqs = [\n   (\"GPU architecture\", \"Ampere+ (sm_80+, A100\/RTX30xx)\",  \"OK\" if AMPERE else \"TOO OLD (T4=sm_75)\"),\n   (\"GPU memory\",       \">=80 GiB for Nano-16B (single H100)\", \"OK\" if gpu_mem_gb >= 79 else f\"{gpu_mem_gb:.0f} GiB \u2014 insufficient\"),\n   (\"CUDA toolkit\",     \">=12.8\",                            \"check\" ),\n   (\"Free disk\",        \"~150 GiB first run (~1 TB HF cache)\", \"OK\" if free_gb >= 150 else f\"{free_gb:.0f} GiB \u2014 insufficient\"),\n   (\"Attention kernels\",\"FlashAttn-3 (Hopper) \/ FA2 (Ampere)\", \"needs Ampere+\"),\n]\nprint(\"n  Can this machine run the REAL Cosmos 3 checkpoints?\")\nprint(\"  \" + \"-\" * 82)\nprint(f\"  {'Requirement':<18}{'Cosmos 3 needs':<38}{'You have'}\")\nprint(\"  \" + \"-\" * 82)\nfor k, need, have in reqs:\n   print(f\"  {k:<18}{need:<38}{have}\")\nprint(\"  \" + \"-\" * 82)\nVERDICT = AMPERE and gpu_mem_gb >= 79 and free_gb >= 150\nprint(f\"  VERDICT: {'This machine could attempt Nano-16B.' if VERDICT else 'NO \u2014 real Cosmos 3 inference is not possible here. Educational path below.'}\")\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We begin by preparing the runtime utilities and checking whether the current machine can realistically support Cosmos 3 inference. We inspect Python, PyTorch, CUDA, GPU memory, compute capability, and available disk space to compare our environment against the actual hardware requirements. We then print a clear verdict explaining why the real 16B+ Cosmos checkpoints cannot usually run on standard Colab hardware.<\/p>\n
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rule(\"SECTION 1 \u2014 Clone & map the real cosmos_framework package (source of truth)\")<\/code><\/pre>\n<\/div>\n<\/div>\n
Mapping The Cosmos-Framework Package<\/strong><\/h2>\n
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REPO = \"https:\/\/github.com\/NVIDIA\/cosmos-framework.git\"\nDST = Path(\"\/content\/cosmos-framework\") if Path(\"\/content\").exists() else Path(\"cosmos-framework\")\ncloned = False\ntry:\n   if not DST.exists():\n       print(f\"Shallow-cloning {REPO} ...\")\n       subprocess.run([\"git\", \"clone\", \"--depth\", \"1\", REPO, str(DST)],\n                      check=True, capture_output=True, text=True, timeout=180)\n   cloned = DST.exists()\nexcept Exception as e:\n   print(f\"(Clone skipped\/failed \u2014 offline is fine, tutorial continues.) {e}\")\nif cloned:\n   print(f\"Repo at: {DST}n\")\n   pkg = DST \/ \"cosmos_framework\"\n   if pkg.exists():\n       print(\"cosmos_framework\/ subpackages (the real code layout):\")\n       for child in sorted(pkg.iterdir()):\n           if child.is_dir() and not child.name.startswith((\"_\", \".\")):\n               n_py = len(list(child.rglob(\"*.py\")))\n               print(f\"   \u2022 {child.name:<20} ({n_py:>3} .py files)\")\n   example = DST \/ \"inputs\" \/ \"omni\" \/ \"t2v.json\"\n   if example.exists():\n       print(f\"nReal example input spec  ({example.relative_to(DST)}):\")\n       print(textwrap.indent(example.read_text().strip(), \"   \"))\nelse:\n   print(\"Proceeding without a local clone (we already extracted the real schema\/CLI).\")\nprint(\"\"\"\nReal CLI surface (docs\/inference.md):\n  Single GPU : python -m cosmos_framework.scripts.inference \\\n                   --parallelism-preset=latency -i \"inputs\/omni\/t2v.json\" \\\n                   -o outputs\/omni_nano --checkpoint-path Cosmos3-Nano --seed 0\n  Multi  GPU : torchrun --nproc-per-node=8 -m cosmos_framework.scripts.inference \\\n                   --parallelism-preset=throughput -i \"inputs\/omni\/*.json\" \\\n                   -o outputs\/omni_super --checkpoint-path Cosmos3-Super --seed 0\n  Models     : Cosmos3-Nano (16B, all modes) | Cosmos3-Super (65B, t2i\/t2v\/i2v)\n  Modes      : text2image \u00b7 text2video \u00b7 image2video \u00b7 video2video \u00b7\n               forward_dynamics \u00b7 inverse_dynamics \u00b7 policy\n  Parallelism: FSDP dp-shard \/ dp-replicate \u00b7 context (cp) \u00b7 CFG (cfgp)\n               presets {latency, throughput}\n  Guardrails : Cosmos-Guardrail1 + Qwen3Guard-Gen-0.6B + RetinaFace (on by default)\n\"\"\")\nrule(\"SECTION 2 \u2014 Omnimodal Mixture-of-Transformers (MoT) world model \u2014 the idea\")\nprint(r\"\"\"\nCosmos 3 unifies language, image, video, audio and ACTION in ONE model. The key trick\nis a Mixture-of-Transformers: every modality is turned into tokens placed on a SINGLE\ninterleaved sequence; SELF-ATTENTION is SHARED across all modalities (so vision can be\nconditioned on text, actions on vision, etc.), but each token is processed by a\nMODALITY-SPECIFIC expert feed-forward block (\"Mixture-of-Transformers\" routing).\n       text tokens        vision tokens          action tokens\n       [t0 t1 t2 ...]     [v0 v1 v2 ...]         [a0 a1 ...]\n                               |                     \/\n                               |                    \/\n              +----------- one sequence -----------+\n                             |\n                \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 shared causal self-attention (RoPE) \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n                \u2502  every token attends to all earlier tokens, ANY modality  \u2502\n                \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                             |\n                route each token to its modality's EXPERT FFN (SwiGLU):\n                   text\u2192Expert0     vision\u2192Expert1     action\u2192Expert2\n                             |\n                per-modality heads:  next-token \/ next-latent \/ next-action\nPhysical-AI modes fall right out of this one model:\n  text2video      = generate the vision-token stream from a text prompt\n  image2video     = condition vision stream on a first frame + text\n  forward_dynamics= given frames + ACTIONS, roll future frames forward   (a world model)\n  inverse_dynamics= given frames, infer the ACTIONS that caused them\n  policy          = given an observation + goal, emit ACTIONS (+ imagined rollout)\nBelow we build a faithful ~4M-param miniature of exactly this and train it live.\n(The real model uses flow-matching\/diffusion for the continuous vision stream; our toy\nuses a simple MSE next-latent objective so it trains in seconds \u2014 the ROUTING and\nSHARED-ATTENTION structure are the same.)\n\"\"\")\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We clone and inspect the real cosmos-framework repository to understand its package structure, input schemas, and CLI workflow directly from the source. We also print the official inference command patterns for single-GPU and multi-GPU launches, including modes such as text-to-video, image-to-video, forward dynamics, inverse dynamics, and policy. We then introduce the omnimodal Mixture-of-Transformers idea, where text, vision, and action tokens share attention while still using modality-specific expert feed-forward blocks.<\/p>\n
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rule(\"SECTION 3 \u2014 Implement & train the omnimodal MoT from scratch\")<\/code><\/pre>\n<\/div>\n<\/div>\n
Building The Omnimodal MoT<\/strong><\/h2>\n
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import torch.nn as nn\nimport torch.nn.functional as F\nfrom dataclasses import dataclass\ntorch.manual_seed(0)\n@dataclass\nclass Cfg:\n   d_model:   int = 192\n   n_head:    int = 6\n   n_layer:   int = 4\n   ffn_mult:  int = 2\n   n_mod:     int = 3\n   text_vocab:int = 16\n   vis_dim:   int = 8\n   act_dim:   int = 4\n   Lt:        int = 8\n   Lv:        int = 8\n   La:        int = 6\ncfg = Cfg()\nclass RMSNorm(nn.Module):\n   def __init__(self, d, eps=1e-6):\n       super().__init__(); self.w = nn.Parameter(torch.ones(d)); self.eps = eps\n   def forward(self, x):\n       return self.w * x * torch.rsqrt(x.pow(2).mean(-1, keepdim=True) + self.eps)\ndef build_rope(T, hd, device, base=10000.0):\n   pos  = torch.arange(T, device=device, dtype=torch.float32)[:, None]\n   idx  = torch.arange(0, hd, 2, device=device, dtype=torch.float32)[None, :]\n   freq = 1.0 \/ (base ** (idx \/ hd))\n   ang  = pos * freq\n   cos  = torch.cos(ang).repeat(1, 2)[None, None]\n   sin  = torch.sin(ang).repeat(1, 2)[None, None]\n   return cos, sin\ndef rotate_half(x):\n   hd = x.shape[-1]; x1, x2 = x[..., :hd \/\/ 2], x[..., hd \/\/ 2:]\n   return torch.cat([-x2, x1], -1)\ndef apply_rope(q, k, cos, sin):\n   return q * cos + rotate_half(q) * sin, k * cos + rotate_half(k) * sin\nclass Attention(nn.Module):\n   \"\"\"Shared cross-modal causal self-attention with rotary embeddings.\"\"\"\n   def __init__(self, c: Cfg):\n       super().__init__()\n       self.H, self.hd = c.n_head, c.d_model \/\/ c.n_head\n       self.qkv  = nn.Linear(c.d_model, 3 * c.d_model, bias=False)\n       self.proj = nn.Linear(c.d_model, c.d_model, bias=False)\n   def forward(self, x, cos, sin, mask):\n       B, T, D = x.shape\n       q, k, v = self.qkv(x).chunk(3, -1)\n       q = q.view(B, T, self.H, self.hd).transpose(1, 2)\n       k = k.view(B, T, self.H, self.hd).transpose(1, 2)\n       v = v.view(B, T, self.H, self.hd).transpose(1, 2)\n       q, k = apply_rope(q, k, cos, sin)\n       att = (q @ k.transpose(-2, -1)) \/ math.sqrt(self.hd)\n       att = att.masked_fill(mask, float(\"-inf\")).softmax(-1)\n       o = (att @ v).transpose(1, 2).reshape(B, T, D)\n       return self.proj(o)\nclass Expert(nn.Module):\n   \"\"\"A per-modality SwiGLU feed-forward 'transformer expert'.\"\"\"\n   def __init__(self, d, mult):\n       super().__init__(); h = d * mult\n       self.w1 = nn.Linear(d, h, bias=False)\n       self.w3 = nn.Linear(d, h, bias=False)\n       self.w2 = nn.Linear(h, d, bias=False)\n   def forward(self, x):\n       return self.w2(F.silu(self.w1(x)) * self.w3(x))\nclass MoTBlock(nn.Module):\n   \"\"\"Shared attention + Mixture-of-Transformers (per-modality expert) routing.\"\"\"\n   def __init__(self, c: Cfg):\n       super().__init__()\n       self.attn_norm = RMSNorm(c.d_model)\n       self.attn      = Attention(c)\n       self.ffn_norm  = nn.ModuleList([RMSNorm(c.d_model) for _ in range(c.n_mod)])\n       self.experts   = nn.ModuleList([Expert(c.d_model, c.ffn_mult) for _ in range(c.n_mod)])\n   def forward(self, x, cos, sin, mask, mod_id):\n       x = x + self.attn(self.attn_norm(x), cos, sin, mask)\n       out = torch.zeros_like(x)\n       for i, exp in enumerate(self.experts):\n           sel = (mod_id == i).view(1, -1, 1).to(x.dtype)\n           out = out + sel * exp(self.ffn_norm[i](x))\n       return x + out\nclass OmniMoT(nn.Module):\n   def __init__(self, c: Cfg):\n       super().__init__(); self.c = c\n       self.text_emb = nn.Embedding(c.text_vocab, c.d_model)\n       self.vis_in   = nn.Linear(c.vis_dim, c.d_model)\n       self.act_in   = nn.Linear(c.act_dim, c.d_model)\n       self.mod_emb  = nn.Embedding(c.n_mod, c.d_model)\n       self.blocks   = nn.ModuleList([MoTBlock(c) for _ in range(c.n_layer)])\n       self.norm     = RMSNorm(c.d_model)\n       self.text_head = nn.Linear(c.d_model, c.text_vocab, bias=False)\n       self.vis_head  = nn.Linear(c.d_model, c.vis_dim,  bias=False)\n       self.act_head  = nn.Linear(c.d_model, c.act_dim,  bias=False)\n       ids = torch.cat([torch.zeros(c.Lt), torch.ones(c.Lv), torch.full((c.La,), 2)]).long()\n       self.register_buffer(\"mod_id\", ids, persistent=False)\n   def forward(self, text, vis, act):\n       c = self.c\n       x = torch.cat([self.text_emb(text), self.vis_in(vis), self.act_in(act)], 1)\n       x = x + self.mod_emb(self.mod_id)[None]\n       B, T, D = x.shape\n       cos, sin = build_rope(T, D \/\/ c.n_head, x.device)\n       mask = torch.triu(torch.ones(T, T, dtype=torch.bool, device=x.device), 1)[None, None]\n       for blk in self.blocks:\n           x = blk(x, cos, sin, mask, self.mod_id)\n       x = self.norm(x)\n       ht = self.text_head(x[:, :c.Lt])\n       hv = self.vis_head(x[:, c.Lt:c.Lt + c.Lv])\n       ha = self.act_head(x[:, c.Lt + c.Lv:])\n       return ht, hv, ha\nmodel = OmniMoT(cfg).to(DEVICE)\nn_params = sum(p.numel() for p in model.parameters())\nprint(f\"Model built: OmniMoT  |  {n_params\/1e6:.2f}M params  |  {cfg.n_layer} MoT blocks \"\n     f\"x {cfg.n_mod} experts  |  device={DEVICE}\")\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We implement the miniature omnimodal Mixture-of-Transformers model from scratch using PyTorch. We define RMSNorm, rotary embeddings, shared causal self-attention, modality-specific SwiGLU experts, and the full OmniMoT architecture. We then initialize the model on the available device and report its parameter count, layer count, expert structure, and runtime device.<\/p>\n
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K = 4\ng = torch.Generator().manual_seed(1)\n<\/code><\/pre>\n<\/div>\n<\/div>\n
Training On Synthetic Data<\/strong><\/h2>\n
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K = 4\ng = torch.Generator().manual_seed(1)\nTraining On Synthetic Data\nTEXT_TRANS = torch.stack([torch.softmax(torch.randn(cfg.text_vocab, cfg.text_vocab, generator=g), -1)\n                         for _ in range(K)])\nVIS_DYN = torch.stack([0.9 * torch.linalg.qr(torch.randn(cfg.vis_dim, cfg.vis_dim, generator=g))[0]\n                      for _ in range(K)])\nACT_MAP = torch.randn(cfg.act_dim, cfg.vis_dim, generator=g) * 0.5\ndef make_batch(B):\n   codes = torch.randint(0, K, (B,), generator=g)\n   text = torch.zeros(B, cfg.Lt, dtype=torch.long)\n   text[:, 0] = torch.randint(0, cfg.text_vocab, (B,), generator=g)\n   for t in range(1, cfg.Lt):\n       probs = TEXT_TRANS[codes, text[:, t-1]]\n       text[:, t] = torch.multinomial(probs, 1, generator=g).squeeze(1)\n   vis = torch.zeros(B, cfg.Lv, cfg.vis_dim)\n   vis[:, 0] = torch.randn(B, cfg.vis_dim, generator=g)\n   for t in range(1, cfg.Lv):\n       vis[:, t] = torch.einsum(\"bij,bj->bi\", VIS_DYN[codes], vis[:, t-1]) \n                   + 0.02 * torch.randn(B, cfg.vis_dim, generator=g)\n   vis_state = vis.mean(1)\n   act = torch.zeros(B, cfg.La, cfg.act_dim)\n   for t in range(cfg.La):\n       act[:, t] = (ACT_MAP @ (vis_state * (0.8 ** t)).T).T \n                   + 0.02 * torch.randn(B, cfg.act_dim, generator=g)\n   return text.to(DEVICE), vis.to(DEVICE), act.to(DEVICE), codes\ndef loss_fn(model, text, vis, act):\n   ht, hv, ha = model(text, vis, act)\n   l_text = F.cross_entropy(ht[:, :-1].reshape(-1, cfg.text_vocab), text[:, 1:].reshape(-1))\n   l_vis  = F.mse_loss(hv[:, :-1], vis[:, 1:])\n   l_act  = F.mse_loss(ha[:, :-1], act[:, 1:])\n   return l_text + l_vis + l_act, (l_text.item(), l_vis.item(), l_act.item())\nopt = torch.optim.AdamW(model.parameters(), lr=3e-3, weight_decay=0.01)\nSTEPS, BATCH = 400, 64\nhist, t0 = [], time.time()\nprint(f\"nTraining for {STEPS} steps (batch={BATCH})...\")\nmodel.train()\nfor step in range(1, STEPS + 1):\n   text, vis, act, _ = make_batch(BATCH)\n   loss, parts = loss_fn(model, text, vis, act)\n   opt.zero_grad(); loss.backward()\n   torch.nn.utils.clip_grad_norm_(model.parameters(), 1.0)\n   opt.step()\n   hist.append(loss.item())\n   if step % 50 == 0 or step == 1:\n       print(f\"  step {step:4d}  total {loss.item():6.3f}  \"\n             f\"| text {parts[0]:5.3f}  vision {parts[1]:6.4f}  action {parts[2]:6.4f}\")\nprint(f\"Trained in {time.time()-t0:.1f}s  |  loss {hist[0]:.3f} -> {hist[-1]:.3f}\")\nprint(\"  loss curve: \" + spark(hist))\ntry:\n   import matplotlib.pyplot as plt\n   plt.figure(figsize=(7, 3))\n   plt.plot(hist); plt.title(\"OmniMoT training loss\"); plt.xlabel(\"step\"); plt.ylabel(\"loss\")\n   plt.grid(alpha=0.3); plt.tight_layout(); plt.show()\nexcept Exception:\n   pass\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We create a synthetic physical-world dataset where text, vision, and action streams depend on hidden scene codes. We train the miniature world model to predict next text tokens, future vision latents, and future action vectors using a combined cross-entropy and MSE objective. We track the training loss over multiple steps and optionally plot the curve to show how the model learns the cross-modal dynamics.<\/p>\n
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rule(\"SECTION 4 \u2014 Autoregressive world-model rollout (forward_dynamics analog)\")\nprint(textwrap.dedent(\"\"\"\n   A world model predicts the FUTURE. Here we give the trained model a partial vision\n   trajectory and let it roll the vision latents forward one step at a time \u2014 exactly\n   the loop Cosmos 3 runs for `forward_dynamics` (predict future frames) and `policy`\n   (predict future frames + actions). We compare the model's imagined trajectory to the\n   ground-truth physics (the hidden VIS_DYN map) it never saw explicitly.\n\"\"\"))\n@torch.no_grad()\n<\/code><\/pre>\n<\/div>\n<\/div>\n
Autoregressive World-Model Rollout<\/strong><\/h2>\n
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def rollout(model, text, vis_prefix, act, n_future):\n   \"\"\"Predict n_future vision latents autoregressively from a vision prefix.\"\"\"\n   model.eval()\n   vis = vis_prefix.clone()\n   preds = []\n   for _ in range(n_future):\n       pad = cfg.Lv - vis.shape[1]\n       vis_in = vis if pad <= 0 else torch.cat(\n           [vis, vis[:, -1:].repeat(1, pad, 1)], 1)\n       _, hv, _ = model(text, vis_in[:, :cfg.Lv], act)\n       nxt = hv[:, min(vis.shape[1], cfg.Lv) - 1:min(vis.shape[1], cfg.Lv)]\n       preds.append(nxt)\n       vis = torch.cat([vis, nxt], 1)\n   return torch.cat(preds, 1)\ntext, vis, act, codes = make_batch(4)\nprefix_len, n_future = 3, 5\npred = rollout(model, text, vis[:, :prefix_len], act, n_future)\ngt = vis[:, prefix_len-1:prefix_len].clone()\ntrue_steps = [gt]\ncur = gt\nfor _ in range(n_future):\n   cur = torch.einsum(\"bij,bj->bi\", VIS_DYN[codes].to(DEVICE), cur[:, -1]).unsqueeze(1)\n   true_steps.append(cur)\ngt_traj = torch.cat(true_steps[1:], 1)\nerr = F.mse_loss(pred, gt_traj).item()\nprint(f\"Rolled out {n_future} future vision latents for {text.shape[0]} scenes.\")\nprint(f\"Imagined-vs-true-physics MSE : {err:.4f}   (a small number = it learned the dynamics)\")\nprint(f\"Example (scene 0) latent[0] over time:\")\nprint(f\"   predicted : {pred[0,:,0].detach().cpu().numpy().round(3).tolist()}\")\nprint(f\"   true      : {gt_traj[0,:,0].detach().cpu().numpy().round(3).tolist()}\")\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We test the trained model using an autoregressive rollout that mirrors the forward-dynamics approach used in real-world models. We give the model a short vision prefix and let it predict future latent states step by step. We then compare the imagined trajectory against the true synthetic physics and report the MSE to evaluate how well the model captures future dynamics.<\/p>\n
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rule(\"SECTION 5 \u2014 Real Cosmos 3 inference: valid input specs, commands, hardware table\")<\/code><\/pre>\n<\/div>\n<\/div>\n
Real Cosmos 3 Inference<\/strong><\/h2>\n
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specs = {\n   \"t2i.json\": {\n       \"model_mode\": \"text2image\",\n       \"prompt\": \"a robot arm neatly stacking three wooden blocks on a lab bench, cinematic\",\n       \"resolution\": \"480\", \"aspect_ratio\": \"16,9\", \"num_frames\": 1, \"seed\": 0,\n   },\n   \"t2v.json\": {\n       \"model_mode\": \"text2video\",\n       \"prompt\": \"first-person view of a warehouse AMR navigating around pallets, smooth motion\",\n       \"resolution\": \"480\", \"aspect_ratio\": \"16,9\", \"fps\": 16, \"num_frames\": 121, \"seed\": 0,\n   },\n   \"t2vs.json\": {\n       \"model_mode\": \"text2video\", \"enable_sound\": True,\n       \"prompt\": \"rain falling on a tin roof at night, distant thunder, puddles rippling\",\n       \"resolution\": \"480\", \"fps\": 16, \"num_frames\": 121, \"seed\": 0,\n   },\n   \"i2v.json\": {\n       \"model_mode\": \"image2video\",\n       \"prompt\": \"the camera slowly pushes in as steam rises from the cup\",\n       \"vision_path\": \"assets\/first_frame.jpg\",\n       \"resolution\": \"480\", \"fps\": 16, \"num_frames\": 121, \"seed\": 0,\n   },\n   \"action_forward_dynamics_robot.json\": {\n       \"model_mode\": \"forward_dynamics\",\n       \"domain_name\": \"bridge_orig_lerobot\", \"view_point\": \"ego_view\",\n       \"vision_path\": \"assets\/obs.mp4\", \"action_path\": \"assets\/actions.json\",\n       \"action_chunk_size\": 12, \"image_size\": 256, \"seed\": 0,\n   },\n   \"action_policy_robot.json\": {\n       \"model_mode\": \"policy\",\n       \"domain_name\": \"bridge_orig_lerobot\", \"view_point\": \"ego_view\",\n       \"vision_path\": \"assets\/obs.mp4\", \"prompt\": \"pick up the red cube and place it in the bowl\",\n       \"action_chunk_size\": 12, \"image_size\": 256, \"seed\": 0,\n   },\n}\nspec_dir = (Path(\"\/content\") if Path(\"\/content\").exists() else Path(\".\")) \/ \"cosmos_inputs\"\nspec_dir.mkdir(exist_ok=True)\nfor name, obj in specs.items():\n   (spec_dir \/ name).write_text(json.dumps(obj, indent=2))\nprint(f\"Wrote {len(specs)} ready-to-use, schema-correct input specs to: {spec_dir}n\")\nprint(\"Example \u2014 text2video spec (inputs\/omni\/t2v.json):\")\nprint(textwrap.indent(json.dumps(specs[\"t2v.json\"], indent=2), \"   \"))\nprint(\"\"\"\nEXACT launch commands (run these where you have the hardware; do NOT expect them on Colab):\n # Single 80GB H100 \u2014 Nano only, latency preset (lowest per-sample wall time)\n python -m cosmos_framework.scripts.inference \\\n     --parallelism-preset=latency \\\n     -i \"cosmos_inputs\/t2v.json\" -o outputs\/nano \\\n     --checkpoint-path Cosmos3-Nano --seed 0\n # Whole batch on 8x H100 \u2014 Nano, throughput preset\n torchrun --nproc-per-node=8 -m cosmos_framework.scripts.inference \\\n     --parallelism-preset=throughput \\\n     -i \"cosmos_inputs\/*.json\" -o outputs\/nano_batch \\\n     --checkpoint-path Cosmos3-Nano --seed 0\n # Cosmos3-Super (65B) \u2014 must shard across GPUs (does NOT fit on one H100)\n torchrun --nproc-per-node=4 -m cosmos_framework.scripts.inference \\\n     --parallelism-preset=throughput --dp-shard-size=4 --dp-replicate-size=1 \\\n     --cp-size=1 --cfgp-size=1 \\\n     -i \"cosmos_inputs\/t2v.json\" -o outputs\/super \\\n     --checkpoint-path Cosmos3-Super --seed 0\n # Tight on memory? climb this ladder (from docs\/faq.md):\n export PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True\n ... --offload-guardrail-models         # keep guardrails on CPU between calls\n ... --no-guardrails                     # (last resort; disables safety filters)\n\"\"\")\nprint(\"  Model \/ hardware reality table\")\nprint(\"  \" + \"-\" * 82)\nprint(f\"  {'Model':<16}{'Params':<9}{'Fits on 1x H100 80GB?':<24}{'Recommended':<18}\")\nprint(\"  \" + \"-\" * 82)\nfor m, pr, one, rec in [\n   (\"Cosmos3-Nano\",  \"16B\", \"Yes (latency preset)\",   \"1-8x H100\"),\n   (\"Cosmos3-Super\", \"65B\", \"No \u2014 must shard (FSDP)\",  \"4-8x H100\"),\n]:\n   print(f\"  {m:<16}{pr:<9}{one:<24}{rec:<18}\")\nprint(\"  \" + \"-\" * 82)\nrule(\"SECTION 6 \u2014 Summary\")\nprint(textwrap.dedent(f\"\"\"\n   You ran, end to end on {'a ' + gpu_name if CUDA_OK else 'CPU'}:\n     1. An honest capability probe (this box cannot run the 16B+ Cosmos 3 checkpoints).\n     2. A map of the real cosmos_framework package, CLI, modes, and input schema.\n     3. A from-scratch ~{n_params\/1e6:.1f}M-param omnimodal Mixture-of-Transformers world\n        model \u2014 shared cross-modal causal attention + per-modality expert FFNs, RoPE,\n        RMSNorm, SwiGLU \u2014 TRAINED live (loss {hist[0]:.2f} -> {hist[-1]:.2f}).\n     4. An autoregressive world-model rollout (forward_dynamics\/policy), imagined-vs-true\n        physics MSE = {err:.4f}.\n     5. Six schema-correct Cosmos 3 input specs + the exact launch commands.\n   To run the REAL models, use a machine with Ampere+ GPUs (Hopper\/Blackwell recommended),\n   CUDA>=12.8 and ~150GB free disk, then:\n     git clone https:\/\/github.com\/NVIDIA\/cosmos-framework && cd cosmos-framework\n     curl -LsSf https:\/\/astral.sh\/uv\/install.sh | sh && source $HOME\/.local\/bin\/env\n     uv sync --all-extras --group=cu130-train        # or cu128-train for CUDA 12.8\n     source .venv\/bin\/activate && export LD_LIBRARY_PATH=\n     export HF_TOKEN=...                              # accept model licenses on HF first\n     python -m cosmos_framework.scripts.inference --parallelism-preset=latency \\\n         -i cosmos_inputs\/t2v.json -o outputs\/nano --checkpoint-path Cosmos3-Nano --seed 0\n   Docs:  setup \u2192 docs\/setup.md \u00b7 inference \u2192 docs\/inference.md \u00b7 training \u2192 docs\/training.md\n   Models: https:\/\/huggingface.co\/collections\/nvidia\/cosmos3\n\"\"\"))\nprint(\"Done. \"\u2705\"  This whole tutorial ran without a single gated download or 80GB GPU.\")\n<\/code><\/pre>\n<\/div>\n<\/div>\n
We generate schema-correct Cosmos 3 input specifications for text-to-image, text-to-video, audio-enabled video, image-to-video, forward dynamics, and policy-style robot tasks. We also print the exact commands needed to launch real Cosmos 3 inference on suitable H100-class hardware with the proper parallelism settings. We finish by summarizing what we run in Colab and how the same workflow scales to the real NVIDIA Cosmos models when the required hardware and setup are available.<\/p>\n
Conclusion<\/strong><\/h2>\n
In conclusion, we connected the practical constraints of large-scale Cosmos 3 deployment with a runnable educational implementation that helps us understand the architecture rather than just read about it. We trained a small omnimodal transformer, inspected how text, vision, and action tokens interact through shared attention, and ran a forward-dynamics-style rollout that demonstrates the world-modeling concept at a manageable scale. We also generated schema-correct input specifications and exact launch commands for real Cosmos 3 inference, so the same workflow can scale once we have access to the required Ampere or Hopper-class hardware, sufficient GPU memory, CUDA support, and disk capacity.<\/p>\n
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The post NVIDIA\u2019s Cosmos-Framework Tutorial: Designing a Colab-Friendly Miniature of Cosmos 3 World Models with Omnimodal Mixture-of-Transformers<\/a> appeared first on MarkTechPost<\/a>.<\/p>","protected":false},"excerpt":{"rendered":"
In this tutorial, we explore NVIDIA\u2019s cosmos-framework from a practical Colab-friendly angle while staying honest about the hardware limits of running real Cosmos 3 checkpoints. We begin by checking the current runtime, GPU capabilities, CUDA availability, memory, and disk space to understand why full Cosmos 3 inference is not realistic on standard Colab hardware. Instead of stopping there, we use the framework\u2019s real structure, CLI surface, input schema, and model modes as the foundation for a hands-on miniature implementation. We then build and train a compact omnimodal Mixture-of-Transformers world model that mirrors the core Cosmos idea: shared cross-modal attention with modality-specific expert routing for text, vision, and action streams. Using synthetic physical-world data, training-loss tracking, and an autoregressive rollout, we show how the model learns relationships across modalities and predicts future latent states in a simplified yet technically meaningful way. Probing Colab Hardware Limits Copy CodeCopiedUse a different Browser import os, sys, json, time, math, textwrap, subprocess, shutil, platform from pathlib import Path def rule(title=””): line = “=” * 86 print(“n” + line + (“n ” + title if title else “”) + “n” + line) def spark(vals, width=60): “””Tiny ASCII sparkline for a 1-D sequence (works with no plotting libs).””” if not vals: return “” blocks = “\u2581\u2582\u2583\u2584\u2585\u2586\u2587\u2588” lo, hi = min(vals), max(vals) rng = (hi – lo) or 1.0 step = max(1, len(vals) \/\/ width) s = “”.join(blocks[min(len(blocks) – 1, int((v – lo) \/ rng * (len(blocks) – 1)))] for v in vals[::step]) return s rule(“SECTION 0 \u2014 Environment probe: what you have vs. what Cosmos 3 actually needs”) IN_COLAB = “google.colab” in sys.modules print(f”Running inside Google Colab : {IN_COLAB}”) print(f”Python : {platform.python_version()} ({platform.system()})”) try: import torch except ModuleNotFoundError: print(“torch not found \u2014 installing CPU build (a few seconds)…”) subprocess.run([sys.executable, “-m”, “pip”, “install”, “-q”, “torch”], check=False) import torch print(f”PyTorch : {torch.__version__}”) CUDA_OK = torch.cuda.is_available() DEVICE = torch.device(“cuda” if CUDA_OK else “cpu”) gpu_name, gpu_mem_gb, cc = “None (CPU)”, 0.0, (0, 0) if CUDA_OK: p = torch.cuda.get_device_properties(0) gpu_name = p.name gpu_mem_gb = p.total_memory \/ 1024**3 cc = torch.cuda.get_device_capability(0) print(f”CUDA build : {torch.version.cuda}”) print(f”GPU : {gpu_name}”) print(f”GPU memory : {gpu_mem_gb:.1f} GiB”) print(f”Compute capability : sm_{cc[0]}{cc[1]}”) try: free_gb = shutil.disk_usage(‘\/’).free \/ 1024**3 print(f”Free disk : {free_gb:.0f} GiB”) except Exception: free_gb = 0.0 AMPERE = cc[0] >= 8 reqs = [ (“GPU architecture”, “Ampere+ (sm_80+, A100\/RTX30xx)”, “OK” if AMPERE else “TOO OLD (T4=sm_75)”), (“GPU memory”, “>=80 GiB for Nano-16B (single H100)”, “OK” if gpu_mem_gb >= 79 else f”{gpu_mem_gb:.0f} GiB \u2014 insufficient”), (“CUDA toolkit”, “>=12.8”, “check” ), (“Free disk”, “~150 GiB first run (~1 TB HF cache)”, “OK” if free_gb >= 150 else f”{free_gb:.0f} GiB \u2014 insufficient”), (“Attention kernels”,”FlashAttn-3 (Hopper) \/ FA2 (Ampere)”, “needs Ampere+”), ] print(“n Can this machine run the REAL Cosmos 3 checkpoints?”) print(” ” + “-” * 82) print(f” {‘Requirement’:<18}{‘Cosmos 3 needs’:<38}{‘You have’}”) print(” ” + “-” * 82) for k, need, have in reqs: print(f” {k:<18}{need:<38}{have}”) print(” ” + “-” * 82) VERDICT = AMPERE and gpu_mem_gb >= 79 and free_gb >= 150 print(f” VERDICT: {‘This machine could attempt Nano-16B.’ if VERDICT else ‘NO \u2014 real Cosmos 3 inference is not possible here. Educational path below.’}”) We begin by preparing the runtime utilities and checking whether the current machine can realistically support Cosmos 3 inference. We inspect Python, PyTorch, CUDA, GPU memory, compute capability, and available disk space to compare our environment against the actual hardware requirements. We then print a clear verdict explaining why the real 16B+ Cosmos checkpoints cannot usually run on standard Colab hardware. Copy CodeCopiedUse a different Browser rule(“SECTION 1 \u2014 Clone & map the real cosmos_framework package (source of truth)”) Mapping The Cosmos-Framework Package Copy CodeCopiedUse a different Browser REPO = “https:\/\/github.com\/NVIDIA\/cosmos-framework.git” DST = Path(“\/content\/cosmos-framework”) if Path(“\/content”).exists() else Path(“cosmos-framework”) cloned = False try: if not DST.exists(): print(f”Shallow-cloning {REPO} …”) subprocess.run([“git”, “clone”, “–depth”, “1”, REPO, str(DST)], check=True, capture_output=True, text=True, timeout=180) cloned = DST.exists() except Exception as e: print(f”(Clone skipped\/failed \u2014 offline is fine, tutorial continues.) {e}”) if cloned: print(f”Repo at: {DST}n”) pkg = DST \/ “cosmos_framework” if pkg.exists(): print(“cosmos_framework\/ subpackages (the real code layout):”) for child in sorted(pkg.iterdir()): if child.is_dir() and not child.name.startswith((“_”, “.”)): n_py = len(list(child.rglob(“*.py”))) print(f” \u2022 {child.name:<20} ({n_py:>3} .py files)”) example = DST \/ “inputs” \/ “omni” \/ “t2v.json” if example.exists(): print(f”nReal example input spec ({example.relative_to(DST)}):”) print(textwrap.indent(example.read_text().strip(), ” “)) else: print(“Proceeding without a local clone (we already extracted the real schema\/CLI).”) print(“”” Real CLI surface (docs\/inference.md): Single GPU : python -m cosmos_framework.scripts.inference \\ –parallelism-preset=latency -i “inputs\/omni\/t2v.json” \\ -o outputs\/omni_nano –checkpoint-path Cosmos3-Nano –seed 0 Multi GPU : torchrun –nproc-per-node=8 -m cosmos_framework.scripts.inference \\ –parallelism-preset=throughput -i “inputs\/omni\/*.json” \\ -o outputs\/omni_super –checkpoint-path Cosmos3-Super –seed 0 Models : Cosmos3-Nano (16B, all modes) | Cosmos3-Super (65B, t2i\/t2v\/i2v) Modes : text2image \u00b7 text2video \u00b7 image2video \u00b7 video2video \u00b7 forward_dynamics \u00b7 inverse_dynamics \u00b7 policy Parallelism: FSDP dp-shard \/ dp-replicate \u00b7 context (cp) \u00b7 CFG (cfgp) presets {latency, throughput} Guardrails : Cosmos-Guardrail1 + Qwen3Guard-Gen-0.6B + RetinaFace (on by default) “””) rule(“SECTION 2 \u2014 Omnimodal Mixture-of-Transformers (MoT) world model \u2014 the idea”) print(r””” Cosmos 3 unifies language, image, video, audio and ACTION in ONE model. The key trick is a Mixture-of-Transformers: every modality is turned into tokens placed on a SINGLE interleaved sequence; SELF-ATTENTION is SHARED across all modalities (so vision can be conditioned on text, actions on vision, etc.), but each token is processed by a MODALITY-SPECIFIC expert feed-forward block (“Mixture-of-Transformers” routing). text tokens vision tokens action tokens [t0 t1 t2 …] [v0 v1 v2 …] [a0 a1 …] | \/ | \/ +———– one sequence ———–+ | \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 shared causal self-attention (RoPE) \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u2502 every token attends to all earlier tokens, ANY modality \u2502 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 | route each token to its modality’s EXPERT FFN (SwiGLU): text\u2192Expert0 vision\u2192Expert1 action\u2192Expert2 | per-modality heads: next-token \/ next-latent \/ next-action Physical-AI modes fall right out of this one model: text2video = generate the vision-token stream from a text prompt image2video = condition vision stream on a first frame + text forward_dynamics= given frames + ACTIONS, roll future frames forward (a world model) inverse_dynamics= given frames, infer the ACTIONS that caused them policy =<\/p>","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"pmpro_default_level":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"_pvb_checkbox_block_on_post":false,"footnotes":""},"categories":[52,5,7,1],"tags":[],"class_list":["post-102758","post","type-post","status-publish","format-standard","hentry","category-ai-club","category-committee","category-news","category-uncategorized","pmpro-has-access"],"acf":[],"yoast_head":"\nNVIDIA\u2019s Cosmos-Framework Tutorial: Designing a Colab-Friendly Miniature of Cosmos 3 World Models with Omnimodal Mixture-of-Transformers - 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