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 our platform open-source and our models open-weight with permissive licenses available via https://github.com/NVIDIA/Cosmos.

We present STORM, a spatio-temporal reconstruction model designed for reconstructing dynamic outdoor scenes from sparse observations. Existing dynamic reconstruction methods often rely on per-scene optimization, dense observations across space and time, and strong motion supervision, resulting in lengthy optimization times, limited generalization to novel views or scenes, and degenerated quality caused by noisy pseudo-labels for dynamics. To address these challenges, STORM leverages a data-driven Transformer architecture that directly infers dynamic 3D scene representations--parameterized by 3D Gaussians and their velocities--in a single forward pass. Our key design is to aggregate 3D Gaussians from all frames using self-supervised scene flows, transforming them to the target timestep to enable complete (i.e., "amodal") reconstructions from arbitrary viewpoints at any moment in time. As an emergent property, STORM automatically captures dynamic instances and generates high-quality masks using only reconstruction losses. Extensive experiments on public datasets show that STORM achieves precise dynamic scene reconstruction, surpassing state-of-the-art per-scene optimization methods (+4.3 to 6.6 PSNR) and existing feed-forward approaches (+2.1 to 4.7 PSNR) in dynamic regions. STORM reconstructs large-scale outdoor scenes in 200ms, supports real-time rendering, and outperforms competitors in scene flow estimation, improving 3D EPE by 0.422m and Acc5 by 28.02%. Beyond reconstruction, we showcase four additional applications of our model, illustrating the potential of self-supervised learning for broader dynamic scene understanding.

Previous methods for scene generation either suffer from limited scales or lack geometric and appearance Generating simulatable and controllable 3D scenes is an essential consistency along generated sequences. In contrast, task for a wide spectrum of applications, including we leverage the recent advancements in scalable 3D mixed reality, robotics, and the training and testing of autonomous representation and video models to achieve large dynamic vehicles (AV) [25, 33]. In particular, the requirements scene generation that allows flexible controls through HD of AV applications have introduced new challenges maps, vehicle bounding boxes, and text descriptions. First, for 3D generative models in driving scenarios, posing the we construct a map-conditioned sparse-voxel-based 3D following key desiderata: (1) fidelity and consistency, to generative model to unleash its power for unbounded voxel ensure that the generated scenes support photo-realistic rendering world generation. Then, we re-purpose a video model and while preserving consistent appearance and geometry ground it on the voxel world through a set of carefully designed for reliable and stable physics simulation; (2) largescale, pixel-aligned guidance buffers, synthesizing a consistent to generate scenes at map-level for traffic simulation; appearance. Finally, we propose a fast feed-forward and (3) controllability, to allow easy manipulation of the approach that employs both voxel and pixel branches to lift scene layout, appearance, and ego-car behaviors for curating the dynamic videos to dynamic 3D Gaussians with control-adversarial scenarios.

Recent advancements in static feed-forward scene reconstruction have demonstrated significant progress in high-quality novel view synthesis. However, these models often struggle with generalizability across diverse environments and fail to effectively handle dynamic content. We present BTimer (short for BulletTimer), the first motion-aware feed-forward model for real-time reconstruction and novel view synthesis of dynamic scenes. Our approach reconstructs the full scene in a 3D Gaussian Splatting representation at a given target ('bullet') timestamp by aggregating information from all the context frames. Such a formulation allows BTimer to gain scalability and generalization by leveraging both static and dynamic scene datasets. Given a casual monocular dynamic video, BTimer reconstructs a bullet-time scene within 150ms while reaching state-of-the-art performance on both static and dynamic scene datasets, even compared with optimization-based approaches.

We present SCube, a novel method for reconstructing large-scale 3D scenes (geometry, appearance, and semantics) from a sparse set of posed images. Our method encodes reconstructed scenes using a novel representation VoxSplat, which is a set of 3D Gaussians supported on a high-resolution sparse-voxel scaffold. To reconstruct a VoxSplat from images, we employ a hierarchical voxel latent diffusion model conditioned on the input images followed by a feedforward appearance prediction model. The diffusion model generates high-resolution grids progressively in a coarse-to-fine manner, and the appearance network predicts a set of Gaussians within each voxel. From as few as 3 non-overlapping input images, SCube can generate millions of Gaussians with a 1024^3 voxel grid spanning hundreds of meters in 20 seconds. Past works tackling scene reconstruction from images either rely on per-scene optimization and fail to reconstruct the scene away from input views (thus requiring dense view coverage as input) or leverage geometric priors based on low-resolution models, which produce blurry results. In contrast, SCube leverages high-resolution sparse networks and produces sharp outputs from few views. We show the superiority of SCube compared to prior art using the Waymo self-driving dataset on 3D reconstruction and demonstrate its applications, such as LiDAR simulation and text-to-scene generation.

We present fVDB, a novel GPU-optimized framework for deep learning on large-scale 3D data. fVDB provides a complete set of differentiable primitives to build deep learning architectures for common tasks in 3D learning such as convolution, pooling, attention, ray-tracing, meshing, etc. fVDB simultaneously provides a much larger feature set (primitives and operators) than established frameworks with no loss in efficiency: our operators match or exceed the performance of other frameworks with narrower scope. Furthermore, fVDB can process datasets with much larger footprint and spatial resolution than prior works, while providing a competitive memory footprint on small inputs. To achieve this combination of versatility and performance, fVDB relies on a single novel VDB index grid acceleration structure paired with several key innovations including GPU accelerated sparse grid construction, convolution using tensorcores, fast ray tracing kernels using a Hierarchical Digital Differential Analyzer algorithm (HDDA), and jagged tensors. Our framework is fully integrated with PyTorch enabling interoperability with existing pipelines, and we demonstrate its effectiveness on a number of representative tasks such as large-scale point-cloud segmentation, high resolution 3D generative modeling, unbounded scale Neural Radiance Fields, and large-scale point cloud reconstruction.

Integrating a notion of symmetry into point cloud neural networks is a provably effective way to improve their generalization capability. Of particular interest are $E(3)$ equivariant point cloud networks where Euclidean transformations applied to the inputs are preserved in the outputs. Recent efforts aim to extend networks that are $E(3)$ equivariant, to accommodate inputs made of multiple parts, each of which exhibits local $E(3)$ symmetry. In practical settings, however, the partitioning into individually transforming regions is unknown a priori. Errors in the partition prediction would unavoidably map to errors in respecting the true input symmetry. Past works have proposed different ways to predict the partition, which may exhibit uncontrolled errors in their ability to maintain equivariance to the actual partition. To this end, we introduce APEN: a general framework for constructing approximate piecewise-$E(3)$ equivariant point networks. Our primary insight is that functions that are equivariant with respect to a finer partition will also maintain equivariance in relation to the true partition. Leveraging this observation, we propose a design where the equivariance approximation error at each layers can be bounded solely in terms of (i) uncertainty quantification of the partition prediction, and (ii) bounds on the probability of failing to suggest a proper subpartition of the ground truth one. We demonstrate the effectiveness of APEN using two data types exemplifying part-based symmetry: (i) real-world scans of room scenes containing multiple furniture-type objects; and, (ii) human motions, characterized by articulated parts exhibiting rigid movement. Our empirical results demonstrate the advantage of integrating piecewise $E(3)$ symmetry into network design, showing a distinct improvement in generalization compared to prior works for both classification and segmentation tasks.

We present $\mathcal{X}^3$ (pronounced XCube), a novel generative model for high-resolution sparse 3D voxel grids with arbitrary attributes. Our model can generate millions of voxels with a finest effective resolution of up to $1024^3$ in a feed-forward fashion without time-consuming test-time optimization. To achieve this, we employ a hierarchical voxel latent diffusion model which generates progressively higher resolution grids in a coarse-to-fine manner using a custom framework built on the highly efficient VDB data structure. Apart from generating high-resolution objects, we demonstrate the effectiveness of XCube on large outdoor scenes at scales of 100m$\times$100m with a voxel size as small as 10cm. We observe clear qualitative and quantitative improvements over past approaches. In addition to unconditional generation, we show that our model can be used to solve a variety of tasks such as user-guided editing, scene completion from a single scan, and text-to-3D. More results and details can be found at https://research.nvidia.com/labs/toronto-ai/xcube/.

In this work, we revisit linguistic acceptability in the context of large language models. We introduce CoLAC - Corpus of Linguistic Acceptability in Chinese, the first large-scale acceptability dataset for a non-Indo-European language. It is verified by native speakers and is the first acceptability dataset that comes with two sets of labels: a linguist label and a crowd label. Our experiments show that even the largest InstructGPT model performs only at chance level on CoLAC, while ChatGPT's performance (48.30 MCC) is also much below supervised models (59.03 MCC) and human (65.11 MCC). Through cross-lingual transfer experiments and fine-grained linguistic analysis, we provide detailed analysis of the model predictions and demonstrate for the first time that knowledge of linguistic acceptability can be transferred across typologically distinct languages, as well as be traced back to pre-training. Our dataset is publicly available at \url{https://github.com/huhailinguist/CoLAC}.

Vertical Federated Learning (VFL) enables multiple data owners, each holding a different subset of features about largely overlapping sets of data sample(s), to jointly train a useful global model. Feature selection (FS) is important to VFL. It is still an open research problem as existing FS works designed for VFL either assumes prior knowledge on the number of noisy features or prior knowledge on the post-training threshold of useful features to be selected, making them unsuitable for practical applications. To bridge this gap, we propose the Federated Stochastic Dual-Gate based Feature Selection (FedSDG-FS) approach. It consists of a Gaussian stochastic dual-gate to efficiently approximate the probability of a feature being selected, with privacy protection through Partially Homomorphic Encryption without a trusted third-party. To reduce overhead, we propose a feature importance initialization method based on Gini impurity, which can accomplish its goals with only two parameter transmissions between the server and the clients. Extensive experiments on both synthetic and real-world datasets show that FedSDG-FS significantly outperforms existing approaches in terms of achieving accurate selection of high-quality features as well as building global models with improved performance.