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Cosmos3 Nano Sim Transfer generates camera-like video from your simulator’s depth frames and a scene description. Your simulator determines the motion and physics; the model generates the visual appearance. For example, a simulated robot reaches for a cup. Feed its depth frames to Transfer with a description of the room and lighting, then display the resulting RGB video or pass it to a vision-based policy.

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What you provide and receive

Use model identifier reactor/cosmos3-nano-sim-transfer with a Reactor session.

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Choose a workflow

Render a depth sequence

Start with a recorded simulator trajectory and inspect the generated video.

Connect to a simulator

Supply depth incrementally and feed complete RGB results to your policy.

Generate appearance variants

Explore lighting and materials for synthetic observation generation.

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Which use case fits?

  • Interactive visual rendering: display a simulator trajectory with generated appearance. The video preview is for viewing and can drop or repeat frames.
  • Closed-loop integration: pause simulator advancement until a complete depth-step result arrives, then let your policy consume its RGB observations. Feedback is once per four render frames.
  • Synthetic observation generation: replay trajectories with varied appearance descriptions and evaluate output quality. Throughput matters more than latency; dataset storage and scheduling are your application’s responsibility.
The Transfer cookbook examples provide runnable Python clients and synthetic inputs for recorded-video and incremental-depth workflows.

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Visual transfer and simulation

Transfer changes how a simulated scene looks. Your simulator still owns robot actions, collisions, object state, and success criteria. Generated RGB is a synthetic observation, not a measurement from a real camera. Evaluate its effect on your policy before assuming better real-world performance. For an interactive learned environment driven directly by arm movements, use Cosmos3 Nano Sim Bimanual.