Not quite a WGLC review, but here's what a group of students had to
say about draft-ietf-cose-msg-12.txt as part of a recent class
assignment (with permission, excerpted and translated by yours truly).

(Please don't read this as a criticism of CMS, the students just
happened to need to look at both CMS and COSE for the assignment.)

My main point here is that the -msg draft indeed appears to be quite
accessible for new people to acquaint themselves with COSE, and I'm
happy to see that we seem to have achieved that.

Grüße, Carsten

...
The COSE draft provides current encryption algorithms and hashes
(EdDSA, SHA-2, AES, ChaCha20/Poly1305, ECDH).
It is prepared for the future by using IANA for defining and
publishing identifiers for new algorithms, so that the relevant
algorithms can all be found in one place.
...
Since COSE is based on CBOR, some information can be expressed in a
more compact and simple way [than with CMS].
A single CBOR parser can be used for all formats.
In addition, all formats have a very similar structure that is sharing
the header: an array containing two headers with meta information as
well as a field for payloads and optional fields for signatures and
recipients.
COSE has been developed for the use on devices with constrained
resources, so the parsing of the packets should use minimal time,
energy and memory.
...
[In comparing CMS and COSE:]
There is no equivalent [in COSE] for the Digested-data Content Type
[in CMS].
...
In reading the available source documents it became apparent that the
COSE draft places a lot more attention on examples and howto's, making
the draft much more readable.  ASN.1 is getting in the way of
understanding, CBOR is easier to understand.  Also, there are no test
vectors in the CMS RFCs we used.

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