Omni4D stage-1 4D model, update 15,000

stage1_4d_wan22_5b_step_015000/README.md

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+# Omni4D stage-1 4D model, update 15,000 (2026-10-29)
+
+Wan2.2-TI2V-5B with separate token streams: video, depth image (GenCeption log depth), RayMap camera, DINOv3 features; joint attention in blocks 7-22, stream-only blocks 0-6 and 23-29; modality forcing. Trained on the 4D mixture (Syn4D, SynthVerse, ParallelDomain-4D, OmniWorld-Game, Spring, TartanAir, vKITTI, Dynamic Replica, MidAir, MVS-Synth, TartanGround), 9 frames at 288 x 512.
+
+- weights_step_015000_bf16.pt: inference weights (12.1 GB).
+- fp32_masters_step_015000.pt: FP32 master weights, the start of the stage-1 continuation and robot post-training runs (24.2 GB); fp32_masters_step_015000.json lists the tensor groups.
+- config.yaml: the run config (resume at 10,000 to 15,000).
+- code_commit.txt: training code commit (repo NIRVANALAN/vgg_forecast_4d).

stage1_4d_wan22_5b_step_015000/code_commit.txt

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+commit cdf38ca61fb27e63f68d017bf00cd5d661174e22

stage1_4d_wan22_5b_step_015000/config.yaml

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+output_dir: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_relaunch_captions_depth_image_20261029/98e01ac6b/run
+gpu_model: B200
+batch_size: 8
+num_workers: 8
+learning_rate: 0.0001
+num_epochs: 20
+max_steps: 500000
+log_every: 10
+save_every: 1000
+eval_every: 0
+eval_num_inference_steps: 25
+keep_last_n_states: 2
+keep_last_n_weights: 5
+eval_video: false
+share_pca_basis: true
+gradient_accumulation_steps: 4
+mixed_precision: bf16
+seed: 42
+max_grad_norm: 1.0
+weight_decay: 0.01
+resume: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_20261028/4443e0637/run/checkpoints/state/step_010000
+resume_reanchor_lr_schedule: false
+resume_config_source: current
+pretrained_ckpt: null
+pretrained_ckpt_strict_shape: false
+wandb:
+  enabled: true
+  workspace: null
+  project: omni4d-robotwin
+  name: flexpi_four_d_pretraining_b200_500k_relaunch_captions_depth_image
+  group: flexpi_four_d_pretraining
+  mode: online
+data:
+  train:
+    _target_: four_d_windows.FourDPretrainingWindows
+    sources:
+    - name: four_d_pretraining_relaunch_rendered_depth_sources
+      kind: track4d_source_config
+      config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_rendered_depth_sources_21_frames_512
+      weight: 40.5
+      left_out_sources:
+      - omniworld_game
+      held_out_left_out_sources: []
+    frames: 9
+    raster_hw:
+    - 288
+    - 512
+    raymap_camera:
+      origin_fraction: 0.3333333333333333
+      origin_range: 1.0
+      decode_margin: 16
+      origin_box_grid: 1
+    pointmap_log_factor: 0.4
+    pointmap_hole_fill:
+      synthverse_depth: far_clip
+      syn4d: far_clip
+      omniworld_game: far_clip
+      dynamic_replica: far_clip
+      tartanair: far_clip
+      dl3dv: far_clip
+      scannet: telea_log_depth
+      virtual_kitti2: far_clip
+      midair: far_clip
+      pointodyssey: far_clip
+      mvs_synth: far_clip
+      wildrgbd: telea_log_depth
+      hypersim: far_clip
+      spring: far_clip
+      kubric49: far_clip
+      kubric81: far_clip
+      droid_stereo_depth: telea_log_depth
+    pointmap_gauge: window_labelled_median_depth
+    geometry_image: genception_log_depth
+    context_len: 512
+    batch_size: 8
+    stream_seed: 42
+    epoch_windows: 32000000
+    val_set_proportion: 0.0
+    resume_state: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_20261028/4443e0637/run/checkpoints/state/step_010000
+    gradient_accumulation_steps: 4
+    loader_workers: 8
+    loader_opencv_threads: 1
+    window_captions:
+      caption_dropout: 0.1
+      missing_caption: empty_prompt
+      caches:
+        syn4d_v1_gemini_holo4d:
+          embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/syn4d_v1_gemini_holo4d/captions_t5_emb.safetensors
+          meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/syn4d_v1_gemini_holo4d/captions_t5_emb_meta.json
+        syn4d_v2_gemini_holo4d:
+          embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/syn4d_v2_gemini_holo4d/captions_t5_emb.safetensors
+          meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/syn4d_v2_gemini_holo4d/captions_t5_emb_meta.json
+        tartanair_gemini_holo4d:
+          embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanair_gemini_holo4d/captions_t5_emb.safetensors
+          meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanair_gemini_holo4d/captions_t5_emb_meta.json
+        mvs_synth_gemini_holo4d:
+          embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/mvs_synth_gemini_holo4d/captions_t5_emb.safetensors
+          meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/mvs_synth_gemini_holo4d/captions_t5_emb_meta.json
+      stanzas:
+        syn4d_v1:
+          product: syn4d_v1_gemini_holo4d
+          join: global
+        syn4d_v2_mixed:
+          product: syn4d_v2_gemini_holo4d
+          join: local_covering
+        syn4d_v2_mixed_no_sim:
+          product: syn4d_v2_gemini_holo4d
+          join: local_covering
+        tartanair:
+          product: tartanair_gemini_holo4d
+          join: local_covering
+        mvs_synth:
+          product: mvs_synth_gemini_holo4d
+          join: local_covering
+        omniworld_game: none
+        pointodyssey_test: none
+        kubric49_validation: none
+        wildrgbd_test: none
+        vkitti_test: none
+        droid_held_out: none
+model:
+  _target_: flexpi_track_video.create_flexpi_track_video
+  model_id: Wan-AI/Wan2.2-TI2V-5B
+  tokenizer_model_id: Wan-AI/Wan2.1-T2V-1.3B
+  tokenizer_max_len: 128
+  load_text_encoder: false
+  proprio_dim: 14
+  redirect_common_files: true
+  mot_checkpoint_mixed_attn: true
+  action_dit_pretrained_path: /scratch/shared/shug6902/logs/vgg_forecast_4d/cache/flexpi_robotwin_native_training_20261019/models/ActionDiT_linear_interp_Wan22_alphascale_1024hdim.pt
+  skip_dit_load_from_pretrain: false
+  dino_dim: 768
+  dino_model_name: vit_base_patch16_dinov3.lvd1689m
+  composite_layout: tshape_robotwin_384x320_uniform_dino_on_video_grid
+  dino_cam_patches: null
+  dino_cam_regions: null
+  dino_temporal_stride: 1
+  dino_stride_keep_far: true
+  dino_pred_x0: true
+  dino_pool_mode: avg
+  freeze_dino_encoder: true
+  dino_pixel_unshuffle: 2
+  enable_pointmap: true
+  pointmap_max_depth_m: 2.0
+  pointmap_norm_bounds:
+    x:
+    - -0.5
+    - 0.5
+    'y':
+    - -0.5
+    - 0.5
+    z:
+    - 0.0
+    - 1.5
+  pointmap_depth_vis_mode: turbo
+  joint_video: true
+  joint_dino: true
+  joint_pointmap: true
+  flex_joint:
+    enabled: true
+    p_present_video: 0.5
+    p_present_dino: 0.5
+    p_present_pointmap: 0.5
+    p_jv: 0.5
+    p_jd: 0.5
+    p_jp: 0.5
+    cross_modal_predict_video: true
+    cross_modal_predict_dino: true
+    cross_modal_predict_pointmap: true
+  video_dit_config:
+    has_image_input: false
+    patch_size:
+    - 1
+    - 2
+    - 2
+    in_dim: 48
+    hidden_dim: 3072
+    ffn_dim: 14336
+    freq_dim: 256
+    text_dim: 4096
+    out_dim: 48
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    eps: 1.0e-06
+    seperated_timestep: true
+    require_clip_embedding: false
+    require_vae_embedding: false
+    fuse_vae_embedding_in_latents: true
+    use_gradient_checkpointing: true
+    video_attention_mask_mode: first_frame_causal
+    action_conditioned: false
+    action_dim: 14
+    action_group_causal_mask_mode: group_diagonal
+  action_dit_config:
+    action_dim: 14
+    hidden_dim: 1024
+    ffn_dim: 4096
+    num_heads: 24
+    attn_head_dim: 128
+    num_layers: 30
+    text_dim: 4096
+    freq_dim: 256
+    eps: 1.0e-06
+    use_gradient_checkpointing: true
+  video_scheduler:
+    train_shift: 6.0
+    infer_shift: 6.0
+    num_train_timesteps: 1000
+  action_scheduler:
+    train_shift: 1.0
+    infer_shift: 1.0
+    num_train_timesteps: 1000
+  dino_scheduler:
+    train_shift: 6.0
+    infer_shift: 6.0
+    num_train_timesteps: 1000
+  pointmap_scheduler:
+    train_shift: 6.0
+    infer_shift: 6.0
+    num_train_timesteps: 1000
+  loss:
+    lambda_action: 1.0
+    lambda_dino: 1.0
+    lambda_pointmap: 1.0
+  hbridge:
+    enabled: true
+    bottom_ratio: 0.25
+    top_ratio: 0.25
+  track_video:
+    attention: visual_stream
+    sparse_action: true
+    train_shift: 6.0
+    infer_shift: 6.0
+    loss_lambda: 1.0
+    action_edge: two_way
+    flex:
+      p_present: 1.0
+      p_joint: 0.5
+      cross_modal_predict: true
+  noise_level_coupling: independent
+  raymap_camera:
+    origin_fraction: 0.3333333333333333
+    origin_range: 1.0
+    decode_margin: 16
+    origin_box_grid: 1
+    train_shift: 6.0
+    infer_shift: 6.0
+    loss_lambda: 1.0
+  four_d_pretraining:
+    geometry_streams: generated
+    dino_stream: generated
+    video_loss_lambda: 1.0
+    modality_forcing:
+      video:
+        p_present: 0.5
+        p_joint: 0.5
+        cross_modal: true
+      dino:
+        p_present: 0.5
+        p_joint: 0.5
+        cross_modal: true
+      pointmap:
+        p_present: 0.5
+        p_joint: 0.5
+        cross_modal: true
+      camera:
+        p_present: 0.5
+        p_joint: 0.5
+        cross_modal: true
+      training_mode_shares:
+        flexible_joint: 0.6
+        v2d: 0.04
+        v2c: 0.04
+        c2v_from_first_frame: 0.032
+        c2vd_from_first_frame: 0.032
+        c2v: 0.008
+        c2vd: 0.008
+        vd2c: 0.025
+        vc2d: 0.025
+        v2dc: 0.06
+        dc2v_from_first_frame: 0.02
+        d2vc_from_first_frame: 0.02
+        d2v_from_first_frame: 0.02
+        dc2v: 0.005
+        d2vc: 0.005
+        d2v: 0.005
+        d2c: 0.0125
+        c2d: 0.0125
+        v2d_dino_generated: 0.01
+        v2c_dino_generated: 0.01
+        v2dc_dino_generated: 0.01
+    pointmap_log_factor: 0.4
+minimum_learning_rate: 1.0e-06
+training_scope: four_d_pretraining_8000_updates' model and modality forcing on the
+  stage-1 mixture for 500,000 updates of 64 windows (8 per GPU x 2 B200 x accumulation
+  4), the stage-1 schedule (warmup_steps, cosine to 1e-6, clipping at max_grad_norm),
+  a full state every 1,000 updates and the FP32 masters of every 10,000th
+native_control_fps: 50
+action_dimension: 14
+initialization: native_wan_actiondit
+track_video_encoding:
+  record_root: /scratch/shared/engs2907/logs/vgg_forecast_4d/data/robotwin_robot_records_all_tasks_7bf528a2_20261023
+  embodiment_root: /scratch/shared/engs2907/checkouts/robotwin_objects_b5230d8b_266f3aad/RoboTwin/assets/embodiments/aloha-agilex
+  surface_points: 8192
+  min_surface_points_per_body: 16
+  query_count:
+  - 64
+  - 256
+  camera_query_quota:
+  - 224
+  - 16
+  - 16
+  min_visible_queries: 16
+  query_draw: per_read
+  query_seed: 0
+  visibility_margin_m: 0.01
+  pixel_center: 0.0
+  colouring: frame0_head_xyz
+  xyz_normalization: quantile_0.02_0.98
+  hues: null
+  neighbour_px: null
+  colour_floor: 0.2
+  min_gap_px:
+  - 8
+  - 6
+  - 6
+  wrist_dense_links:
+  - fl_link7
+  - fl_link8
+  - fr_link7
+  - fr_link8
+  wrist_dense_points: 16384
+  disc_radius_px: 2
+  occluded_style: ring
+  ring_radius_px: 3
+  ring_width_px: 1
+deepspeed_gradient_clipping: true
+warmup_steps: 1000
+loader_prefetch_factor: 2
+loader_opencv_threads: 1
+weights_milestone_every: 10000
+fp32_milestone_every: 10000
+data_segment:
+  name: four_d_relaunch_captions_and_genception_depth_image
+  review: doc/review/2026-10-29_four_d_pretraining_window_captions.md
+  changed_keys:
+  - output_dir
+  - wandb.name
+  - data.train.sources
+  - data.train.pointmap_gauge
+  - data.train.geometry_image
+  - data.train.context_len
+  - data.train.window_captions
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2d
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2c
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.c2v_from_first_frame
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.c2vd_from_first_frame
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.c2v
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.c2vd
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.vd2c
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.vc2d
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2dc
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.dc2v_from_first_frame
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.d2vc_from_first_frame
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.d2v_from_first_frame
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.dc2v
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.d2vc
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.d2v
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.d2c
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.c2d
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2d_dino_generated
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2c_dino_generated
+  - model.four_d_pretraining.modality_forcing.training_mode_shares.v2dc_dino_generated

stage1_4d_wan22_5b_step_015000/fp32_masters_step_015000.json

@@ -0,0 +1,62 @@
+{
+ "state_dir": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_relaunch_captions_depth_image_20261029/98e01ac6b/run/checkpoints/state/step_015000",
+ "deepspeed_tag": "pytorch_model",
+ "weights_layout": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_relaunch_captions_depth_image_20261029/98e01ac6b/run/checkpoints/weights/step_015000.pt",
+ "step": 15000,
+ "torch_dtype": "torch.float32",
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+  "av_patch_embedding": {
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+  "av_head": {
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+  },
+  "camera_stream": {
+   "tensors": 5,
+   "elements": 1189056
+  },
+  "proprio_encoder": {
+   "tensors": 2,
+   "elements": 61440
+  }
+ },
+ "expert_masters_named": {
+  "video": [
+   "video_expert.",
+   "mot.mixtures.video."
+  ],
+  "action": [
+   "action_expert.",
+   "mot.mixtures.action."
+  ]
+ },
+ "masters": 3321,
+ "masters_left_out_by_module": {},
+ "out": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_b200_500k_updates_relaunch_captions_depth_image_20261029/98e01ac6b/run/checkpoints/fp32/step_015000.pt"
+}

stage1_4d_wan22_5b_step_015000/fp32_masters_step_015000.pt

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stage1_4d_wan22_5b_step_015000/fp32_masters_step_015000.verified.json

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