Cosmos-1.0-Autoregressive: A Suite of Autoregressive-based World Foundation Models

Cosmos | Code | Paper

Model Overview

Description:

Cosmos World Foundation Models: A family of highly performant pre-trained world foundation models purpose-built for generating physics-aware videos and world states for physical AI development.

The Cosmos autoregressive models are a collection of pre-trained world foundation models that are ideal for predicting and rapidly generating video sequences from video or image inputs for physical AI. They can serve as the building block for various applications or research that are related to world generation. The models are ready for commercial use under NVIDIA Open Model license agreement.

Model Developer: NVIDIA

Model Versions

In Cosmos 1.0 release, the Cosmos Autoregressive WFM family includes the following models:

• Cosmos-1.0-Autoregressive-4B
  • Given a 9-frame input video, predicts the future 24 frames.
• Cosmos-1.0-Autoregressive-5B-Video2World
  • Given text description and an image as the first frame, predicts the future 32 frames.
  • Given text description and a 9-frame input video, predicts the future 24 frames.
• Cosmos-1.0-Autoregressive-12B
  • Given a 9-frame input video, predicts the future 24 frames.
• Cosmos-1.0-Autoregressive-13B-Video2World
  • Given text description and an image as the first frame, predicts the future 32 frames.
  • Given text description and a 9-frame input video, predicts the future 24 frames.

License:

This model is released under the NVIDIA Open Model License. For a custom license, please contact cosmos-license@nvidia.com.

Under the NVIDIA Open Model License, NVIDIA confirms:

• Models are commercially usable.
• You are free to create and distribute Derivative Models.
• NVIDIA does not claim ownership to any outputs generated using the Models or Derivative Models.

Important Note: If you bypass, disable, reduce the efficacy of, or circumvent any technical limitation, safety guardrail or associated safety guardrail hyperparameter, encryption, security, digital rights management, or authentication mechanism contained in the Model, your rights under NVIDIA Open Model License Agreement will automatically terminate.

Model Architecture:

Cosmos-1.0-Autoregressive-4B is an autoregressive transformer model designed for world generation. The network is composed of interleaved self-attention and feedforward layers as its building blocks.

Input/Output Specifications

• Input

  • Input Type(s): Video
  • Input Format(s): mp4
  • Input Parameters: Three-dimensional (3D)
  • Other Properties Related to Input: The input video should be of 1024x640 resolution with at least 9 frames.

• Output

  • Output Type(s): Video
  • Output Format(s): mp4
  • Output Parameters: Three-dimensional (3D)
  • Other Properties Related to Output: The generated video will be a 24-frame clip with a resolution of 1024x640 pixels, conditioned on the first 9 frames of the input video.

Software Integration:

Runtime Engine(s):

• Cosmos

Supported Hardware Microarchitecture Compatibility:

• NVIDIA Blackwell
• NVIDIA Hopper
• NVIDIA Ampere

Note: We have only tested doing inference with BF16 precision.

Operating System(s):

• Linux (We have not tested on other operating systems.)

Usage

• See Cosmos for details.

Evaluation

Please see our technical paper for detailed evaluations.

Inference Time and GPU Memory Usage

These numbers may vary based on system specifications and are provided for reference only.

End-to-end inference runtime on one H100 without offloading and after model initialization:

Failure Analysis

Our models now support video extension up to 33 frames. Starting from either a single image or a 9-frame video input, it can generate the remaining frames to reach the 33-frame length (generating 32 or 24 frames respectively).

We have evaluated all eight possible configurations (4 models × 2 vision input types: image or video) using 100 test videos from physical AI domains. Below are the failure rates for each configuration:

We define failure cases as videos with severe distortions, such as:

• Sudden appearance of large unexpected objects
• Video degrading to a single solid color

Note that the following are not considered failures in our analysis:

• Static video frames
• Minor object distortions or artifacts

Ethical Considerations

NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. When downloaded or used in accordance with our terms of service, developers should work with their internal model team to ensure this model meets requirements for the relevant industry and use case and addresses unforeseen product misuse.

For more detailed information on ethical considerations for this model, please see the subcards of Explainability, Bias, Safety & Security, and Privacy below. Please report security vulnerabilities or NVIDIA AI Concerns here.