ar-mine/cosmos-robometer-private-code

Cosmos–Robometer Phase 2.1A training code

Portable training kit for the approved Public-Proxy stage2_core_v1 experiments:

• Robometer-Low-LoRA: implemented formal trainer with frozen ID-dev evaluation, early stopping, and a 3,000-step hard cap.
• Robometer-Low: full language-decoder smoke test. Formal training remains intentionally blocked until suitable multi-GPU/server memory is available.

The repository does not duplicate the official Robometer trajectory archives, model weights, checkpoints, credentials, OOD evaluation archives, or machine-specific run logs. It does contain derived action sidecars and their manifests: 20,620 sidecar files are packaged in a 455,188,480-byte tar archive. These sidecars are not consumed by the Phase 2.1A reward-model training loop.

Recreate the environment

uv python install 3.10.12
uv sync --project environment/phase21a_robometer --frozen
uv run --project environment/phase21a_robometer \
  python environment/phase21a_robometer/doctor.py

The environment is locked for PyTorch 2.8.0/CUDA 12.8. The reference smoke hardware was one RTX 5090 with 32,607 MiB VRAM.

For a server with restricted or no network access, download the validated pure uv offline archive under offline_env/. It includes uv 0.11.3, CPython 3.10.12, all 50 locked packages, CUDA 12.8 Python wheels, and the locally built FlashAttention wheel. See OFFLINE_UV_DEPLOYMENT.md.

External inputs

• Base model: unsloth/Qwen3-VL-4B-Instruct at revision 252d592b59b0233b226875a44ac135cfa1d3f755.
• Dataset route: Public-Proxy stage2_core_v1 derived from robometer/processed_datasets at revision 1a8eb2d279c70964fadeaf8019a77c490c3abe02.
• Frozen Phase 2.1A subset: 2,689 pair rows referencing 4,323 trajectory files.

There is no separate ar-mine/cosmos-robometer-public-dataset repository. The subset is reconstructed from the pinned official Robometer processed-data repository and the frozen dataset manifest in this repository.

Training

See TRAINING_MANUAL.md. The frozen LoRA configuration is configs/phase21a_robometer_low_lora_train_v2.yaml.

For the pinned official stage2_core_v1 download, extraction, frozen-manifest association, and optional recovered-action linkage, see DATA_SETUP.md.

Current support boundary

The LoRA trainer is runnable and validated at micro-batch 32, gradient accumulation 2, effective batch 64. The full-tune file is a capacity smoke test, not a formal distributed trainer. Paged 8-bit AdamW is not permitted for the formal Robometer-Low comparison.

Redistribution

This public repository includes experiment code, metadata, and recovered action sidecars, but does not grant redistribution rights for upstream datasets or model weights. Review the terms of each upstream source before reusing or redistributing derived assets.