Cosmos-H-Dreams

Cosmos-H-Dreams Description Cosmos-H-Dreams is a real-time, action-conditioned generative surgical world model that lets a human operator or a learned surgical-robotics policy act inside a synthesized surgical scene and observe the interactions live. Given a surgical context frame and a stream of robot kinematic actions, the model autoregressively generates the resulting future video in short blocks, streaming interactively on a single GPU. Unlike the bidirectional, offline Cosmos-H-Surgical-Simulator, Cosmos-H-Dreams is a **causal, few-step self-forcing distilled student**: it is distilled from a bidirectional teacher into a streaming model that responds immediately to actions, turning a passive video generator into a controllable surgical simulator. The released checkpoint specializes the model to da Vinci Research Kit (dVRK) tabletop suturing. The model is intended for real-time surgical-skills rehearsal, interactive demonstration, closed-loop evaluation of surgical robotics policies, and synthetic data generation. The released model is derived from the public NVIDIA Cosmos-Predict2.5-2B world foundation model for physical AI, and its teacher is warm-started from Cosmos-H-Surgical-Simulator (the Open-H 44D action-conditioned checkpoint). This model is ready for commercial or non-commercial use. License/Terms of Use Use of this model is governed by the NVIDIA Open Model License Agreement. Deployment Geography Global Use Case Primarily intended for surgical robotics researchers, healthcare AI developers, academic institutions, and surgical robotics companies exploring interactive surgical simulation, surgeon/trainee rehearsal, closed-loop surgical policy evaluation, and synthetic data generation. Because it is interactive, the same served model can be driven live by a human (browser keyboard or Meta Quest headset) or by a learned policy in a closed-loop evaluation harness. Release Date **GitHub:** 07/23/2026 via https://github.com/isaac-for-healthcare/Cosmos-H-Drea