Cosmos 3 Edge, NVIDIA's 4B single-GPU world model, shipped July 20 under OpenMDW. The SO-101 WAM is our fine-tune of it on 254 episodes of a 3D-printed tabletop arm — trained as a world action model, so one checkpoint dreams new episodes from a photograph and commanded joints, fills synthetic-data orders placed by another agent, and, run backward, acts as the policy that moved the real arm. Two dated public searches found no other independent fine-tune of this model; as far as we can tell this is the first.
What that took: a fine-tuning path rebuilt from the framework's internals — none existed in public code for a new robot — then five days on spot GPUs. And to trust it: a validated end-effector oracle, a cycle-consistency floor, a matched-budget wrist-camera test, a pre-registered MuJoCo gate, and a first hardware run — the failures published next to the wins.