Add Cosmos-H-Dreams tabletop distillation recipe

[lukaszbinden]

No description provided.

[greptile-apps]

Greptile Summary

Adds a complete tabletop teacher-training and causal-student distillation recipe.

• Adds JHU dVRK dataset mixtures, configurable train/test partitioning, and short- and long-horizon dataloaders.
• Registers teacher fine-tuning, Phase 0 cache generation, causal warmup, and Self Forcing experiments.
• Adds supporting preprocessing, manifest extraction, launch scripts, and end-to-end tutorial documentation.

Confidence Score: 4/5

The PR should not merge until the prerequisite stops executing an unverified remote installer response directly in the user’s shell.

The documented setup path still pipes mutable content from the installer endpoint directly into sh without pinning or integrity verification, so a compromised response would execute with the user’s privileges.

Files Needing Attention: docs/tutorial_teacher_training_and_self_forcing.md

Important Files Changed

Filename	Overview
cosmos_predict2/_src/predict2/action/datasets/gr00t_dreams/data/dataset.py	Adds configurable per-dataset split ratios and overrides to the mixed LeRobot dataset pipeline.
cosmos_predict2/_src/predict2/action/configs/action_conditioned/experiment/exp_2B_action_conditioned_rectify_flow_gr00t.py	Registers the short-teacher, fine-annealing, and long-horizon tabletop training stages.
cosmos_predict2/_src/predict2/action/inference/inference_jhu_dvrk_warmup.py	Adds mixed-dataset Phase 0 cache generation for the long-horizon teacher.
cosmos_predict2/_src/predict2/interactive/configs/experiment/exp_action_self_forcing.py	Adds the 73-frame tabletop Self Forcing distillation configuration.
docs/tutorial_teacher_training_and_self_forcing.md	Documents the complete tabletop training and deployment workflow, but its prerequisite installation command retains the previously reported unsafe remote-script execution.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    D[Tabletop dataset] --> ST[13-frame teacher]
    ST --> FA[Fine annealing]
    FA --> LT[73-frame teacher]
    LT --> C[Phase 0 trajectory cache]
    C --> W[Causal student warmup]
    LT --> SF[Self Forcing]
    W --> SF
    SF --> DP[Converted deployment checkpoint]

Loading

_{Reviews (2): Last reviewed commit: "Fix pre-commit formatting and license ch..." | Re-trigger Greptile}

[greptile-apps]

Unverified remote installer execution

This prerequisite pipes mutable network content directly into sh without pinning or integrity verification, exposing users to arbitrary command execution if the installer response is compromised. Download a pinned installer artifact and verify its checksum or signature before executing it. How this was verified: The documented command sends the HTTPS response directly to sh without a checksum, signature, or pinned installer version.