Lyne P. Tchapmi

Niket Agarwal, Arslan Ali, Maciej Bala et al. · nvidia

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 Cosmos open-source and our models open-weight with permissive licenses available via https://github.com/nvidia-cosmos/cosmos-predict1.

Arslan Ali, Junjie Bai, Maciej Bala et al. · nvidia

We introduce [Cosmos-Predict2.5], the latest generation of the Cosmos World Foundation Models for Physical AI. Built on a flow-based architecture, [Cosmos-Predict2.5] unifies Text2World, Image2World, and Video2World generation in a single model and leverages [Cosmos-Reason1], a Physical AI vision-language model, to provide richer text grounding and finer control of world simulation. Trained on 200M curated video clips and refined with reinforcement learning-based post-training, [Cosmos-Predict2.5] achieves substantial improvements over [Cosmos-Predict1] in video quality and instruction alignment, with models released at 2B and 14B scales. These capabilities enable more reliable synthetic data generation, policy evaluation, and closed-loop simulation for robotics and autonomous systems. We further extend the family with [Cosmos-Transfer2.5], a control-net style framework for Sim2Real and Real2Real world translation. Despite being 3.5$\times$ smaller than [Cosmos-Transfer1], it delivers higher fidelity and robust long-horizon video generation. Together, these advances establish [Cosmos-Predict2.5] and [Cosmos-Transfer2.5] as versatile tools for scaling embodied intelligence. To accelerate research and deployment in Physical AI, we release source code, pretrained checkpoints, and curated benchmarks under the NVIDIA Open Model License at https://github.com/nvidia-cosmos/cosmos-predict2.5 and https://github.com/nvidia-cosmos/cosmos-transfer2.5. We hope these open resources lower the barrier to adoption and foster innovation in building the next generation of embodied intelligence.

Bokui Shen, Fei Xia, Chengshu Li et al.

We present iGibson 1.0, a novel simulation environment to develop robotic solutions for interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive home-sized scenes with 108 rooms populated with rigid and articulated objects. The scenes are replicas of real-world homes, with distribution and the layout of objects aligned to those of the real world. iGibson 1.0 integrates several key features to facilitate the study of interactive tasks: i) generation of high-quality virtual sensor signals (RGB, depth, segmentation, LiDAR, flow and so on), ii) domain randomization to change the materials of the objects (both visual and physical) and/or their shapes, iii) integrated sampling-based motion planners to generate collision-free trajectories for robot bases and arms, and iv) intuitive human-iGibson interface that enables efficient collection of human demonstrations. Through experiments, we show that the full interactivity of the scenes enables agents to learn useful visual representations that accelerate the training of downstream manipulation tasks. We also show that iGibson 1.0 features enable the generalization of navigation agents, and that the human-iGibson interface and integrated motion planners facilitate efficient imitation learning of human demonstrated (mobile) manipulation behaviors. iGibson 1.0 is open-source, equipped with comprehensive examples and documentation. For more information, visit our project website: http://svl.stanford.edu/igibson/

Jingfan Wang, Lyne P. Tchapmi, Arvind P. Ravikumara et al.

It is crucial to reduce natural gas methane emissions, which can potentially offset the climate benefits of replacing coal with gas. Optical gas imaging (OGI) is a widely-used method to detect methane leaks, but is labor-intensive and cannot provide leak detection results without operators' judgment. In this paper, we develop a computer vision approach to OGI-based leak detection using convolutional neural networks (CNN) trained on methane leak images to enable automatic detection. First, we collect ~1 M frames of labeled video of methane leaks from different leaking equipment for building CNN model, covering a wide range of leak sizes (5.3-2051.6 gCH4/h) and imaging distances (4.6-15.6 m). Second, we examine different background subtraction methods to extract the methane plume in the foreground. Third, we then test three CNN model variants, collectively called GasNet, to detect plumes in videos taken at other pieces of leaking equipment. We assess the ability of GasNet to perform leak detection by comparing it to a baseline method that uses optical-flow based change detection algorithm. We explore the sensitivity of results to the CNN structure, with a moderate-complexity variant performing best across distances. We find that the detection accuracy can reach as high as 99%, the overall detection accuracy can exceed 95% for a case across all leak sizes and imaging distances. Binary detection accuracy exceeds 97% for large leaks (~710 gCH4/h) imaged closely (~5-7 m). At closer imaging distances (~5-10 m), CNN-based models have greater than 94% accuracy across all leak sizes. At farthest distances (~13-16 m), performance degrades rapidly, but it can achieve above 95% accuracy to detect large leaks (>950 gCH4/h). The GasNet-based computer vision approach could be deployed in OGI surveys to allow automatic vigilance of methane leak detection with high detection accuracy in the real world.

Lyne P. Tchapmi, Christopher B. Choy, Iro Armeni et al.

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but are limited to coarse voxel predictions and do not explicitly enforce global consistency. We present SEGCloud, an end-to-end framework to obtain 3D point-level segmentation that combines the advantages of NNs, trilinear interpolation(TI) and fully connected Conditional Random Fields (FC-CRF). Coarse voxel predictions from a 3D Fully Convolutional NN are transferred back to the raw 3D points via trilinear interpolation. Then the FC-CRF enforces global consistency and provides fine-grained semantics on the points. We implement the latter as a differentiable Recurrent NN to allow joint optimization. We evaluate the framework on two indoor and two outdoor 3D datasets (NYU V2, S3DIS, KITTI, Semantic3D.net), and show performance comparable or superior to the state-of-the-art on all datasets.