宇宙3：用于物理人工智能的全模态世界模型

Cosmos 3: Omnimodal World Models for Physical AI

June 1, 2026

作者: Aditi, Niket Agarwal, Arslan Ali, Jon Allen, Martin Antolini, Adeline Aubame, Alisson Azzolini, Junjie Bai, Maciej Bala, Yogesh Balaji, Josh Bapst, Aarti Basant, Mukesh Beladiya, Mohammad Qazim Bhat, Zaid Pervaiz Bhat, Dan Blick, Vanni Brighella, Han Cai, Tiffany Cai, Eric Cameracci, Jiaxin Cao, Yulong Cao, Mark Carlson, Carlos Casanova, Ting-Yun Chang, Yan Chang, Yu-Wei Chao, Prithvijit Chattopadhyay, Roshan Chaudhari, Chieh-Yun Chen, Junyu Chen, Ke Chen, Qizhi Chen, Wenkai Chen, Xiaotong Chen, Yu Chen, An-Chieh Cheng, Click Cheng, Xiu Chia, Jeana Choi, Chaeyeon Chung, Wenyan Cong, Yin Cui, Magdalena Dadela, Nalin Dadhich, Wenliang Dai, Joyjit Daw, Alperen Degirmenci, Rodrigo Vieira Del Monte, Robert Denomme, Sameer Dharur, Marco Di Lucca, Ke Ding, Wenhao Ding, Yifan Ding, Yuzhu Dong, Nicole Drumheller, Yilun Du, Aigul Dzhumamuratova, Aleksandr Efitorov, Hamid Eghbalzadeh, Naomi Eigbe, Imad El Hanafi, Hassan Eslami, Benedikt Falk, Jiaojiao Fan, Jim Fan, Amol Fasale, Sergiy Fefilatyev, Liang Feng, Francesco Ferroni, Sanja Fidler, Xiao Fu, Vikram Fugro, Prashant Gaikwad, TJ Galda, Katelyn Gao, Yihuai Gao, Wenhang Ge, Sreyan Ghosh, Arushi Goel, Vivek Goel, Akash Gokul, Rama Govindaraju, Jinwei Gu, Miguel Guerrero, Elfie Guo, Aryaman Gupta, Siddharth Gururani, Hugo Hadfield, Song Han, Ankur Handa, Zekun Hao, Mohammad Harrim, Ali Hassani, Nathan Hayes-Roth, Yufan He, Chris Helvig, Cyrus Hogg, Madison Huang, Michael Huang, Sophia Huang, Yufan Huang, Jacob Huffman, DeLesley Hutchins, Suneel Indupuru, Boris Ivanovic, Arihant Jain, Joel Jang, Ryan Ji, Yanan Jian, Dongfu Jiang, Jingyi Jin, Atharva Joshi, Nikhilesh Joshi, Pranjali Joshi, Jaehun Jung, Weiwei Kang, Scott Kassekert, Jan Kautz, Ashna Khetan, Julia Kiczka, Slawek Kierat, Gwanghyun Kim, Kuno Kim, Sunny Kim, Kezhi Kong, Xin Kong, Zhifeng Kong, Tomasz Kornuta, Egor Krivov, Hui Kuang, Saurav Kumar, Chia-Wen Kuo, George Kurian, Wojciech Kutak, JF Lafleche, Himangshu Lahkar, Omar Laymoun, Jayjun Lee, Sanggil Lee, Gabriele Leone, Boyi Li, Freya Li, Jiajun Li, Jinfeng Li, Ling Li, Pengcheng Li, Shangru Li, Tingle Li, Xiaolong Li, Xuan Li, Zhaoshuo Li, Zhiqi Li, Hao Liang, Maosheng Liao, Chen-Hsuan Lin, Tsung-Yi Lin, Ming-Yu Liu, Sifei Liu, Zihan Liu, Hai Loc Lu, Xiangyu Lu, Alice Luo, Ruipu Luo, Wenjie Luo, Jiangran Lyu, Martin Ding Ma, Nic Ma, Qianli Ma, Dawid Majchrowski, Louis Marcoux, Miguel Martin, Qing Miao, Ashkan Mirzaei, Shreyas Misra, Kaichun Mo, Durra Mohsin, Hyejin Moon, Pawel Morkisz, Saeid Motiian, Kirill Motkov, Seungjun Nah, Yashraj Narang, Deepak Narayanan, Thabang Ngazimbi, Julian Ouyang, David Page, Yatian Pang, Sehwi Park, Mahesh Patekar, Mostofa Patwary, Marco Pavone, Trung Pham, Wei Ping, Soha Pouya, Shrimai Prabhumoye, Varun Praveen, Delin Qu, Hesam Rabeti, Morteza Ramezanali, Marilyn Reeb, Xuanchi Ren, Kristen Rumley, Wojciech Rymer, Jun Saito, Yeongho Seol, John Shao, Piyush Shekdar, Tianwei Shen, Humphrey Shi, Min Shi, Stella Shi, Kevin Shih, Mohammad Shoeybi, Mateusz Sieniawski, Shuran Song, Alexander Sotelo, Amir Sotoodeh, Sunil Srinivasa, Vignesh Srinivasakumar, Bartosz Stefaniak, Rahul Heinrich Steiger, Shangkun Sun, Jiaxiang Tang, Shitao Tang, Yangyang Tang, Yue Tang, Tolou Tavakkoli, Kayley Ting, Krzysztof Tomala, Wei-Cheng Tseng, Jibin Varghese, Sergei Vasilev, Thomas Volk, Raju Wagwani, Roger Waleffe, Andrew Z. Wang, Boxiang Wang, Haoxiang Wang, Qiao Wang, Shihao Wang, Shijie Wang, Ting-Chun Wang, Yan Wang, Yu Wang, David Wehr, Fangyin Wei, Xinshuo Weng, Jay Zhangjie Wu, Kedi Wu, Hongchi Xia, Summer Xiao, Tianjun Xiao, Kevin Xie, Daguang Xu, Jiashu Xu, Mengyao Xu, Ruqing Xu, Xingqian Xu, Yao Xu, Dinghao Yang, Dong Yang, Hans Yang, Xiaodong Yang, Xuning Yang, Yichu Yang, Yurong You, Zhiding Yu, Hao Yuan, Simon Yuen, Xiaohui Zeng, Pengcuo Zeren, Cindy Zha, Haotian Zhang, Jenny Zhang, Jing Zhang, Liangkai Zhang, Paris Zhang, Shun Zhang, Xuanmeng Zhang, Zhizheng Zhang, Ann Zhao, Yilin Zhao, Yuliya Zhautouskaya, Charles Zhou, Fengzhe Zhou, Shilin Zhu, Yuke Zhu, Dima Zhylko, Artur Zolkowski

cs.AI

摘要

我们推出了 Cosmos 3——一个全模态世界模型系列，旨在通过统一的混合变换器架构，联合处理并生成语言、图像、视频、音频及动作序列。通过支持高度灵活的输入输出配置，Cosmos 3 无缝融合了物理 AI 的关键模态，将视觉语言模型、视频生成器、世界模拟器及世界动作模型有效整合于单一框架之中。评估结果显示，Cosmos 3 在众多理解与生成任务中均达到了新的最优水平，证明了全模态世界模型可作为具身智能体可扩展的通用骨干网络。在技术报告撰写时，我们的后训练版 Cosmos 3 模型被 Artificial Analysis 评为最佳开源文本到图像及图像到视频模型，并被 RoboArena 评为最佳策略模型。为加速物理 AI 领域的开放研究与部署，我们在 Linux 基金会 OpenMDW-1.1 许可协议（https://openmdw.ai/license/1-1/）下，公开了代码、模型检查点、精心整理的合成数据集及评估基准，相关资源可通过 https://github.com/nvidia/cosmos 和 https://huggingface.co/collections/nvidia/cosmos3 获取。项目网站地址为 https://research.nvidia.com/labs/cosmos-lab/cosmos3。

English

We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 https://openmdw.ai/license/1-1/ License at https://github.com/nvidia/cosmos}{github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3 . The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3 .