Add lineage manifest for cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/all_source_readback_attempt02.json

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+{
+  "blockers": [],
+  "failures": {
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+    "pointodyssey_train": "ValueError: pointodyssey_train: position_windows keeps no window of the 108 sequences the PointOdysseyTrack3RSparseTrack loader indexed"
+  },
+  "model_forward_or_training": false,
+  "sources_read": [
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+    "droid",
+    "four_d_pretraining_relaunch_dynamic_replica_stored_depth_source",
+    "four_d_pretraining_relaunch_midair_within_200_meters_source",
+    "four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source",
+    "four_d_pretraining_relaunch_omniworld_game_source",
+    "four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source",
+    "four_d_pretraining_relaunch_spring_stored_depth_source",
+    "four_d_pretraining_relaunch_synthverse_source",
+    "four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source",
+    "four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source",
+    "four_d_pretraining_relaunch_vkitti_source",
+    "kubric_train",
+    "libero",
+    "robotwin",
+    "scannet",
+    "waymo",
+    "wildrgbd"
+  ],
+  "status": "failed",
+  "windows_yaml": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_nano_49_frame_midtraining_all_sources_hdepic_without_cityscapes_from14700_20261107/attempt03/source_windows.yaml",
+  "windows_yaml_sha256": "6f4010e7495eafbbbd6a6c74db5433888f3307f8a7381ee863894eeed00bf87e"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/backup_manifest.json

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+    "15K protected backup"
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+  "remote_prefix": "cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000",
+  "repository": "yslan/o-intermediate-model",
+  "run_id": "cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108",
+  "schema": "vgg_trainable_checkpoint_hf_backup_manifest_v1"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/checkpoint_header_metadata.json

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\"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000404\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000406\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000408\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000410\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000412\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000414\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000416\", \"RPL+32cba90c+2023-12-01-21h-19m-51s_exterior_1_left_000418\"], \"source_ego_id\": \"RPL+32cba90c+2023-12-01-21h-19m-51s\", \"vpm_source_episode_index\": 45638}",
+      "streams": {
+        "pointmap_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": -0.1592797040939331,
+          "min": -0.819167971611023,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "raymap_camera_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": 0.9772403836250305,
+          "min": -0.7611461877822876,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "rgb": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 21307817,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "tracking_video": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 166431,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        }
+      }
+    }
+  ],
+  "source": "droid",
+  "status": "passed",
+  "vgg_commit": "f6992c4b67441dc9778642a252447a2687856116",
+  "window_identity": null,
+  "windows": 1,
+  "windows_yaml_sha256": "f0b5f4dc89dc4face44830c3b16eb1f0699ca8a1d27a5fb9a98bcb06502064a4"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/durable_update_15000_snapshot.json

@@ -0,0 +1,73 @@
+{
+  "event_id": "3ca3e438-49ab-4992-9659-397b7ac2ef37",
+  "snapshot_utc": "2026-11-08T05:55:03.442484+00:00",
+  "job_step": "73012.9",
+  "latest_logged": {
+    "utc": "2026-11-08T05:54:14Z",
+    "update": 15046,
+    "seconds": 50.46
+  },
+  "updates_since14700": 346,
+  "updates_since_previous_snapshot14976": 70,
+  "recent30": {
+    "n": 30,
+    "mean_seconds": 51.51566666666667,
+    "median_seconds": 51.45,
+    "p95_seconds": 53.9095,
+    "min_seconds": 49.06,
+    "max_seconds": 54.92
+  },
+  "gpu": {
+    "GPU-82bebc16-5ed1-eb95-15b1-8738b4040119": {
+      "latest": {
+        "utc": "2026/11/08 05:54:58.927",
+        "util_percent": 100.0,
+        "memory_mib": 78422
+      },
+      "last60_mean_util_percent": 76.48333333333333,
+      "n": 60
+    },
+    "GPU-6f4e57c4-1f48-0923-fc48-a1e1971da078": {
+      "latest": {
+        "utc": "2026/11/08 05:54:58.927",
+        "util_percent": 100.0,
+        "memory_mib": 76972
+      },
+      "last60_mean_util_percent": 77.05,
+      "n": 60
+    }
+  },
+  "new_checkpoint": {
+    "path": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_nano_49_frame_midtraining_all_sources_hdepic_without_cityscapes_from14700_20261107/attempt04/trainable_overlays/step_015000.safetensors",
+    "bytes": 2990807192,
+    "mtime_utc": "2026-11-08T05:14:48.491585+00:00",
+    "parameter_tensors": 530,
+    "dtypes": [
+      "F32"
+    ],
+    "metadata": {
+      "format": "omni4d_trainable_weights_v1",
+      "update": "15000",
+      "base_identity": "nvidia/Cosmos3-Nano@e59a53c25979a090fa8706c9acc0c254a6e89b92",
+      "config_identity": "cosmos3_nano_omni4d_stage_one_lora_r256_plain_ddp_49_frames_temporal_forcing_all_sources_plus_hdepic_from14700_global32_lr2p5e5",
+      "exact_training_resume": "false"
+    },
+    "complete_payload_envelope": true,
+    "stable_stat_during_read": true,
+    "full_hash_recomputed": false,
+    "model_reload_performed": false
+  },
+  "preserved_previous_checkpoints": [
+    "14720",
+    "14800",
+    "14900"
+  ],
+  "recent_log_errors": [],
+  "latest_input_log": "[11-08 05:36:17|INFO|cosmos_framework/data/omni4d_vgg_training.py:366:__iter__] Omni4D input batch 1300: raw_wait=0.0005s main_collate_wall=2.8201s windows=4 cpu_workers=12 prefetch_factor=1",
+  "next15100_eta": "2026-11-08T06:40:35.846000+00:00",
+  "target19700_eta": "2026-11-11T00:30:07.912667+00:00",
+  "allocation_end_utc": "2026-11-09T19:39:47+00:00",
+  "estimated_update_at_allocation_end": 17684,
+  "is_paired_experiment": false,
+  "model_quality_claim": false
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/experiment_config_module.py

@@ -0,0 +1,131 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: OpenMDW-1.1
+
+"""49-frame all-source midtraining from the verified update-14,700 weights-only overlay."""
+
+import hashlib
+import os
+from copy import deepcopy
+from pathlib import Path
+
+from hydra.core.config_store import ConfigStore
+
+from cosmos_framework.configs.base.experiment.sft.omni4d_stage_one_lora_r256_next_version_all_sources_21_frames_temporal_forcing_plain_ddp_from_8200 import (
+    WORLD_SIZE,
+    recipe as base_recipe,
+)
+from cosmos_framework.inference.omni4d_overlay_config_identities import (
+    CITYSCAPES_AND_MOLMO_FROM_OVERLAY_CONFIG_IDENTITY,
+    FORTY_NINE_FRAME_FROM_14700_CONFIG_IDENTITY,
+)
+
+SOURCE_FRAMES = 49
+START_UPDATE = 14700
+END_UPDATE = 19700
+MICROBATCH_PER_RANK = 4
+GRAD_ACCUM_ITER = 4
+DEFAULT_WINDOWS_YAML = Path(__file__).resolve().parents[4] / "configs/omni4d_vgg_stage_one_next_version_all_sources_plus_hdepic_49_frames_ddp_global32_b4_gas4.yaml"
+WINDOWS_YAML = Path(os.environ.get("COSMOS_VGG_WINDOWS_CONFIG", str(DEFAULT_WINDOWS_YAML)))
+START_OVERLAY = "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_next_version_cityscapes_molmo_22_sources_main_process_loader_20261106/attempt02/trainable_overlays/step_014700.safetensors"
+START_OVERLAY_SHA256 = "ae92b4b891df0a6f44e22027139f48f8f6537a43f78a78f92c54a589853209fb"
+START_OVERLAY_CONFIG_IDENTITY = CITYSCAPES_AND_MOLMO_FROM_OVERLAY_CONFIG_IDENTITY
+OUTPUT = "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_nano_49_frame_midtraining_all_sources_hdepic_without_cityscapes_from14700_20261107/attempt01"
+WRITER_CONFIG_IDENTITY = FORTY_NINE_FRAME_FROM_14700_CONFIG_IDENTITY
+
+recipe = deepcopy(base_recipe)
+recipe.job.name = "cosmos_nano_49_frame_midtraining_all_sources_hdepic_without_cityscapes_from14700_20261107"
+recipe.trainer.max_iter = END_UPDATE
+recipe.optimizer.lr = 2.5e-5
+recipe.model.model_overrides.omni4d_training_recipe.source_frames = SOURCE_FRAMES
+recipe.trainer.grad_accum_iter = GRAD_ACCUM_ITER
+recipe.dataloader_train.batch_size = MICROBATCH_PER_RANK
+recipe.dataloader_train.num_workers = 12
+recipe.dataloader_train.prefetch_factor = 1
+recipe.dataloader_train.dataset.windows_config_path = str(WINDOWS_YAML)
+recipe.dataloader_train.dataset.expected_windows_config_sha256 = hashlib.sha256(WINDOWS_YAML.read_bytes()).hexdigest()
+recipe.dataloader_train.dataset.expected_vgg_commit = "f6992c4b67441dc9778642a252447a2687856116"
+recipe.dataloader_train.dataset.expected_source_frames = SOURCE_FRAMES
+recipe.dataloader_train.dataset.expected_world_size = WORLD_SIZE
+recipe.dataloader_train.dataset.sample_offset_updates = START_UPDATE
+recipe.dataloader_train.dataset.batch_size = MICROBATCH_PER_RANK
+recipe.dataloader_train.dataset.gradient_accumulation_steps = GRAD_ACCUM_ITER
+recipe.model.trainable_overlay_path = START_OVERLAY
+recipe.model.trainable_overlay_config_identity = START_OVERLAY_CONFIG_IDENTITY
+recipe.model.trainable_overlay_base_identity = "nvidia/Cosmos3-Nano@e59a53c25979a090fa8706c9acc0c254a6e89b92"
+recipe.checkpoint.load_training_state = False
+recipe.checkpoint.only_load_scheduler_state = False
+recipe.checkpoint.model_only_overlay_clock_handoff = True
+recipe.checkpoint.model_only_overlay_start_iteration = START_UPDATE
+recipe.trainer.callbacks.omni4d_trainable_overlay.output_dir = f"{OUTPUT}/trainable_overlays"
+recipe.trainer.callbacks.omni4d_trainable_overlay.config_identity = WRITER_CONFIG_IDENTITY
+recipe.trainer.callbacks.omni4d_trainable_overlay.save_updates = sorted(
+    {START_UPDATE + 20, *range(START_UPDATE + 100, END_UPDATE + 1, 100)}
+)
+recipe.trainer.callbacks.omni4d_trainable_overlay.keep_last = 1_000_000
+recipe.trainer.callbacks.omni4d_trainable_overlay.milestone_interval = 1000
+recipe.trainer.callbacks.iter_speed.native_phase_timing = {
+    "output_dir": f"{OUTPUT}/native_phase_timings",
+    "start_after_updates": 1,
+    "num_updates": 50,
+    "max_pending": 32,
+    "max_age_updates": 8,
+}
+
+
+def require_launch_ready() -> None:
+    import yaml
+
+    from cosmos_framework.data.omni4d_next_version_readiness import check_mixture_arithmetic, launch_blockers
+    from cosmos_framework.data.omni4d_window_contract import validate_omni4d_window_shape
+
+    if not Path(START_OVERLAY).is_file():
+        raise RuntimeError(f"the 14,700 input overlay is missing: {START_OVERLAY}")
+    digest = hashlib.sha256()
+    with Path(START_OVERLAY).open("rb") as handle:
+        for chunk in iter(lambda: handle.read(8 * 1024 * 1024), b""):
+            digest.update(chunk)
+    if digest.hexdigest() != START_OVERLAY_SHA256:
+        raise RuntimeError("the 14,700 input overlay SHA-256 differs from the verified checkpoint")
+    from safetensors import safe_open
+
+    with safe_open(START_OVERLAY, framework="pt", device="cpu") as checkpoint:
+        metadata = checkpoint.metadata() or {}
+    expected_metadata = {
+        "format": "omni4d_trainable_weights_v1",
+        "config_identity": START_OVERLAY_CONFIG_IDENTITY,
+        "base_identity": recipe.model.trainable_overlay_base_identity,
+        "update": str(START_UPDATE),
+        "exact_training_resume": "false",
+    }
+    for key, expected in expected_metadata.items():
+        if metadata.get(key) != expected:
+            raise RuntimeError(f"the 14,700 overlay metadata {key!r} is {metadata.get(key)!r}, expected {expected!r}")
+    payload = yaml.safe_load(WINDOWS_YAML.read_text(encoding="utf-8"))
+    validate_omni4d_window_shape(SOURCE_FRAMES, *payload["window_block"]["raster_hw"])
+    if payload["window_block"]["frames"] != SOURCE_FRAMES:
+        raise RuntimeError("the 49-frame model and pinned source window length differ")
+    if payload.get("real_video_sources"):
+        raise RuntimeError("Cityscapes and other City real-video sources are excluded from this 49-frame mixture")
+    robot_names = {item["name"] for item in payload.get("robot_sources", [])}
+    if robot_names != {"robotwin", "libero"}:
+        raise RuntimeError(f"the 49-frame recipe needs RoboTwin and LIBERO robot sources, got {robot_names}")
+    if "droid" not in {item["name"] for item in payload["window_block"]["sources"]}:
+        raise RuntimeError("the 49-frame VGG source registry must retain DROID")
+    molmo = payload.get("molmo_motion_sources", [])
+    if len(molmo) != 1 or set(molmo[0]["reader"]["subsets"]) != {"egodex", "xperience", "stereo4d", "hepic"}:
+        raise RuntimeError("the 49-frame recipe must include HD-EPIC with the three already admitted human-video subsets")
+    check_mixture_arithmetic(payload)
+    blockers = launch_blockers(payload)
+    if blockers:
+        raise RuntimeError("the 49-frame mixture is not ready to launch:\n" + "\n".join(f"- {item}" for item in blockers))
+    actual_yaml_sha = hashlib.sha256(WINDOWS_YAML.read_bytes()).hexdigest()
+    if recipe.dataloader_train.dataset.expected_windows_config_sha256 != actual_yaml_sha:
+        raise RuntimeError("the composed window config digest changed after the module was imported")
+
+
+ConfigStore.instance().store(
+    group="experiment",
+    package="_global_",
+    name="omni4d_stage_one_lora_r256_next_version_all_sources_plus_hdepic_49_frames_plain_ddp_from_14700",
+    node=recipe,
+)

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/first_optimizer_update_receipt.json

@@ -0,0 +1,18 @@
+{
+  "status": "optimizer_updates_verified",
+  "observed_at_utc": "2026-11-08T01:01:00.330032+00:00",
+  "job_step": "73012.9",
+  "source_commit": "9cb0ceb0167ba45dc89abfe29ae740a59e91ac11",
+  "first_new_update": 14701,
+  "first_new_update_utc": "2026-11-08T00:59:04Z",
+  "second_new_update": 14702,
+  "second_new_update_utc": "2026-11-08T00:59:55Z",
+  "first_update_seconds": 380.97,
+  "second_update_seconds": 50.42,
+  "cold_and_steady_not_conflated": true,
+  "losses_finite": true,
+  "model_quality_claim": false,
+  "last_gpu_telemetry": "2026-11-08T01:00:12Z: UUID82bebc16...100%/78402MiB; UUID6f4e57c4...89%/77296MiB",
+  "source_CPU_gate": "/scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/long49_all_source_cpu_gate_for_attempt04.json",
+  "first_save_pending": 14720
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/input_14700_cpu_verified.json

@@ -0,0 +1,21 @@
+{
+  "path": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_next_version_cityscapes_molmo_22_sources_main_process_loader_20261106/attempt02/trainable_overlays/step_014700.safetensors",
+  "sha256": "ae92b4b891df0a6f44e22027139f48f8f6537a43f78a78f92c54a589853209fb",
+  "stat": {
+    "size": 2990807208,
+    "mtime_ns": 1794051940677173078
+  },
+  "metadata": {
+    "parameter_names": "[\"language_model.model.layers.0.self_attn.q_proj_moe_gen.lora_A.weight\", \"language_model.model.layers.0.self_attn.q_proj_moe_gen.lora_B.weight\", \"language_model.model.layers.0.self_attn.k_proj_moe_gen.lora_A.weight\", \"language_model.model.layers.0.self_attn.k_proj_moe_gen.lora_B.weight\", \"language_model.model.layers.0.self_attn.v_proj_moe_gen.lora_A.weight\", \"language_model.model.layers.0.self_attn.v_proj_moe_gen.lora_B.weight\", \"language_model.model.layers.0.self_attn.o_proj_moe_gen.lora_A.weight\", \"language_model.model.layers.0.self_attn.o_proj_moe_gen.lora_B.weight\", \"language_model.model.layers.0.mlp_moe_gen.gate_proj.lora_A.weight\", \"language_model.model.layers.0.mlp_moe_gen.gate_proj.lora_B.weight\", \"language_model.model.layers.0.mlp_moe_gen.up_proj.lora_A.weight\", \"language_model.model.layers.0.mlp_moe_gen.up_proj.lora_B.weight\", \"language_model.model.layers.0.mlp_moe_gen.down_proj.lora_A.weight\", 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+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/launch_plan.json

@@ -0,0 +1,53 @@
+{
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+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/libero_readback.json

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cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/lineage.json

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cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/long49_all_source_cpu_gate.json

@@ -0,0 +1,31 @@
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cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/molmo49_readback.json

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+        "files": 98921,
+        "records": 473631,
+        "required_files": {
+          "camera_poses": {
+            "found": 98921,
+            "of": 98921
+          },
+          "tracks": {
+            "found": 205696,
+            "of": 205696
+          },
+          "videos": {
+            "found": 98921,
+            "of": 98921
+          }
+        },
+        "split": "train"
+      },
+      "train_entries": 98921
+    },
+    "xperience_hand": {
+      "drawn_by_this_source": false,
+      "fps_of_entries": {
+        "10.0": 87997
+      },
+      "in_training_mix": false,
+      "train_entries": 87997
+    },
+    "ytvis": {
+      "drawn_by_this_source": false,
+      "fps_of_entries": {
+        "12.0": 330,
+        "6.0": 324,
+        "8.0": 277
+      },
+      "in_training_mix": true,
+      "train_entries": 931
+    }
+  },
+  "exclusion_counts": {
+    "point_motion_bench_clip_ids": 2875,
+    "release_test_file_ids": {
+      "droid": 1169,
+      "egodex": 5046,
+      "egodex_hand": 5044,
+      "hepic": 637,
+      "molmospaces": 7760,
+      "stereo4d": 2208,
+      "xperience": 5206,
+      "xperience_hand": 4625,
+      "ytvis": 104
+    },
+    "test_cohort_records": 120,
+    "train_file_ids": {
+      "egodex": 95798,
+      "hepic": 12109,
+      "stereo4d": 20803,
+      "xperience": 98921
+    }
+  },
+  "frames": 49,
+  "model_forward_or_training": false,
+  "reader_digest": "6ca3229f4b89c99d4158ef8286105d950ab57c89161eabe9caa9f552bb89ce84",
+  "role_replay": {
+    "camera": {
+      "window_or_frame_role_counts_absent_given_generated": {
+        "0": 299,
+        "1": 533,
+        "2": 0
+      }
+    },
+    "dino": {
+      "window_or_frame_role_counts_absent_given_generated": {
+        "0": 0,
+        "1": 466,
+        "2": 366
+      }
+    },
+    "pointmap": {
+      "window_or_frame_role_counts_absent_given_generated": {
+        "0": 832,
+        "1": 0,
+        "2": 0
+      }
+    },
+    "track_video": {
+      "window_or_frame_role_counts_absent_given_generated": {
+        "0": 0,
+        "1": 376,
+        "2": 456
+      }
+    },
+    "video": {
+      "window_or_frame_role_counts_absent_given_generated": {
+        "0": 0,
+        "1": 403,
+        "2": 429
+      }
+    }
+  },
+  "rows": [
+    {
+      "caption_characters": 46,
+      "caption_sha256": "3576d20fd436060b3b994bf3dab0a0bc65d342e21524776b53e963b061063d05",
+      "caption_tier": "native_annotation_caption",
+      "checks": {
+        "camera_valid": true,
+        "caption_equals_release_entry": true,
+        "depth_absent": true,
+        "frames_consecutive": true,
+        "no_cuda": true,
+        "rgb_equals_independent_decode": true,
+        "subset_in_training_mix": true,
+        "tracking_video_matches_independent_paint": true,
+        "tracking_video_valid": true
+      },
+      "condition_only_streams": [
+        "camera"
+      ],
+      "frame_ids": [
+        9,
+        10,
+        11,
+        12,
+        13,
+        14,
+        15,
+        16,
+        17,
+        18,
+        19,
+        20,
+        21,
+        22,
+        23,
+        24,
+        25,
+        26,
+        27,
+        28,
+        29,
+        30,
+        31,
+        32,
+        33,
+        34,
+        35,
+        36,
+        37,
+        38,
+        39,
+        40,
+        41,
+        42,
+        43,
+        44,
+        45,
+        46,
+        47,
+        48,
+        49,
+        50,
+        51,
+        52,
+        53,
+        54,
+        55,
+        56,
+        57
+      ],
+      "labelled": {
+        "camera_valid": true,
+        "pointmap_valid": false,
+        "tracking_video_valid": true
+      },
+      "projection": {
+        "fps": 7.5,
+        "frame0_median_px": 0.21846943246718498,
+        "kept_tracks": 80,
+        "later_cells": 3828,
+        "later_median_px": 0.2384225186913857,
+        "later_p90_px": 0.33664261176933946,
+        "mp4_frames": [
+          18,
+          114
+        ],
+        "mp4_step": 2.0,
+        "points_frame": "world",
+        "tracks_total": 99
+      },
+      "sequence": "egodex/part4_pick_place_food_1006/object",
+      "streams": {
+        "pointmap_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": 0.0,
+          "min": 0.0,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "raymap_camera_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": 0.9833903312683105,
+          "min": -0.8238287568092346,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "rgb": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 21674368,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "tracking_video": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 52272,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        }
+      },
+      "tracks_painted": [
+        17424,
+        80,
+        80
+      ]
+    }
+  ],
+  "source": "molmo_motion",
+  "status": "passed",
+  "summary": {
+    "camera_valid_windows": 1,
+    "caption_coverage": "1/1",
+    "identity_checks_passed": "1/1",
+    "reprojection_px_by_subset": {
+      "egodex": {
+        "fps": [
+          7.5
+        ],
+        "frame0_median_px": 0.21846943246718498,
+        "kept_tracks_median": 80.0,
+        "later_median_px": 0.2384225186913857,
+        "later_p90_px_median": 0.33664261176933946,
+        "mp4_step": 2.0,
+        "points_frame": [
+          "world"
+        ],
+        "windows": 1
+      }
+    },
+    "subsets": {
+      "egodex": 1
+    },
+    "tracking_video_valid": "1/1",
+    "windows": 1,
+    "windows_with_a_redraw": 0
+  },
+  "vgg_commit": "f6992c4b67441dc9778642a252447a2687856116",
+  "windows": 1,
+  "windows_yaml_sha256_without_the_receipt_pin": "18a73879963edbb91ed188699e57ce432b4c4a0431d47bf8aa581ad0a2b0a89e"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/omni4d_vgg_stage_one_next_version_all_sources_plus_hdepic_49_frames_ddp_global32_b4_gas4.yaml

@@ -0,0 +1,815 @@
+# B4/GAS4 49-frame continuation from the update-14,700 weights-only overlay; no Cityscapes.
+# This is a separate model-only run from an explicit five-stream overlay: 21 sources, total weight 139.
+# The Cityscapes source is deliberately omitted; the remaining real-video sources keep their prior weights.
+# Next Cosmos stage-one version: the owner's weighted mixture at 49 frames (decision 2026-11-07).
+#
+# Weights, not shares. Total 139 over 21 logical sources:
+#   synthetic   79  (56.8%)  the eleven synthetic sources at the 20,000-update Wan run's weights, unchanged:
+#                            syn4d 15.2, omniworld_game 8.75, synthverse 11.05, vkitti 6, tartanair 6, dynamic_replica 5,
+#                            spring 8, midair 3, mvs_synth 3, tartanground 3, paralleldomain4d 10
+#   real video  22  (15.8%)  ScanNet 8, DL3DV 6, WildRGB-D 4, Waymo 4; Cityscapes excluded.
+#   robot       26  (18.7%)  RoboTwin 10 (clean-train episodes only), DROID 10 (depth and camera as inputs only),
+#                            LIBERO 6 (official training demonstrations only); no action stream in stage one
+#   tracks       6  ( 4.3%)  PointOdyssey 3, Kubric 3
+#   human video  6  ( 4.3%)  MolmoMotion including HD-EPIC; DINO and sparse tracking video are targets, camera is input-only, depth absent
+# DINO is a generated target on the real-video sources (ScanNet, DL3DV, WildRGB-D, DROID, Waymo): it is computed from the
+# RGB, so it is exact on real data, and the future-feature forecasts the DINO-Foresight and VFMF comparisons make would
+# otherwise never train on real video. This changes the first launch's roles: the owner's rule is that geometry is
+# condition-only on real data, and that rule still holds for depth and camera, which stay inputs only here.
+# Waymo trains on the processed training split only (waymo.training.pickle.gz, SHA-256 6abd3476...: 798 sequences,
+# 158,081 frames; validation never enters training) through the pinned sparse-track reader's waymo stanza: sparse LiDAR
+# depth, the camera and the RGB; no tracking video; strides 1-4 at 21 frames.
+# No segmentation stream, no Cityscapes, no YAM.
+#
+# The VGG window block below is read by the pinned VGG checkout (vgg_commit) through VggStageOneWindowDataset: the
+# synthetic sources are the recorded 500K run's stanzas (omni4d_vgg_sparse_tracking_synthetic_continuation_sources.yaml,
+# SHA-256 ae49ec6d...) with the window length 49 and missing_caption: error. RoboTwin and LIBERO are read through
+# robot_sources (RobotEpisodeStageOneDataset) because the pinned VGG checkout has no Track4D reader for them.
+# The tracking-video query draw keeps the recorded 10-pixel grid (no query_count_range).
+#
+# Train membership of the real-video sources (official split files, 2026-11-05):
+#   DL3DV      the pinned reader ignores `split` and indexes every processed scene, 85 of which are official
+#              DL3DV-Benchmark (test) scenes. The 141 official benchmark scene hashes (Hugging Face
+#              DL3DV/DL3DV-Benchmark, dataset revision 9684e838) are in omni4d_dl3dv_official_benchmark_scene_hashes.txt;
+#              the 87 of them present in the processed 1K-7K root are added to the stanza's exclude_sequence_ids below
+#              (source_reader_overrides), leaving about 5,898 scenes.
+#   WildRGB-D  the pinned reader reads <category>/selected_seqs_train.json; those 2,244 processed train scenes are all in
+#              the official train-of-both lists (nvs_list.json and camera_eval_list.json of hongchi/wildrgbd, CUT3R's
+#              get_set_list rule) and overlap the official NVS and camera-evaluation validation scenes in none.
+#
+# launch_blockers names every evidence gap that stops the launch. A blocked source keeps its weight; composition
+# (omni4d_native_config.make_config) and the window dataset both refuse to start while the list is not empty. A robot
+# source additionally needs a passing real-window readback receipt (readback_receipt). WildRGB-D and Kubric train on
+# caption text converted by tools/omni4d/convert_stage_one_caption_texts.py (text-only products: no umT5 cache exists).
+#
+# VGG pin: the 500K run's f5a59cd51 plus the window-reader updates, processed-release EgoDex support, and the
+# native2048 Cityscapes caption-reader migration at f6992c4b. The approved raw EgoDex window and Cityscapes caption
+# product readbacks used this exact pin. City captions point to the completed 2026-11-06 converted text product below.
+# One makes the DROID and LIBERO robot window length the data node's num_frames: the pinned window class and the LIBERO
+# painter fixed the clock at 33 rows in five places, one a literal inside the painter's constructor; a project adapter
+# could only rebind module globals and fake attributes, so the smallest safe change is in the VGG source, with the
+# recorded 33-row nodes reading as before. Two DROID commits (cherry-picked from the VGG main stack, f5a59cd is their
+# ancestor) keep a window whose FK arm has no visible frame-0 query, with its source motion absent, instead of raising.
+# The fourth adds the stanza key position_windows (src/vggforecast/data/position_windows.py): each listed position range is
+# one window and the stride and start are drawn inside it. ScanNet and PointOdyssey use it (source_reader_overrides,
+# caption_windows: true) with the local caption windows of their products, so every window they draw lies inside one
+# caption window and the strict caption join never redraws. The fifth adds a waymo stanza to the stage-one real-source config
+# (no source uses it yet: every real source leaves it out). The pin is a separate checkout (a git worktree of the earlier pin
+# directory, which a running training still reads at 9cb6a626a), so the earlier pin's files never change under a run.
+vgg_repository: /scratch/shared/engs2907/vgg_pins/vgg_forecast_4d_cosmos_source_20261106_f6992c4
+vgg_commit: f6992c4b67441dc9778642a252447a2687856116
+recipe_source_config: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_wan22_5b_separate_streams_full_parameters_video_depth_camera_dino_and_sparse_tracking_video_from_the_15000_update_four_d_run_20261101/attempt02/run/config.yaml
+recipe_source_config_sha256: 72590f4598cae1b329c31b3cb45d059bdaeca23642faa10ca3f31372f9ebc0aa
+window_block:
+  _target_: four_d_windows.FourDPretrainingWindows
+  sources:
+  - name: four_d_pretraining_relaunch_syn4d_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: 15.2
+    left_out_sources:
+    - omniworld_game
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_omniworld_game_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_rendered_depth_sources_21_frames_512
+    weight: 8.75
+    left_out_sources:
+    - syn4d_v1
+    - syn4d_v2_mixed
+    - syn4d_v2_mixed_no_sim
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_synthverse_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 11.05
+    left_out_sources:
+    - dynamic_replica
+    - vkitti
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_vkitti_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - synthverse_depth
+    - dynamic_replica
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_dynamic_replica_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 5.0
+    left_out_sources:
+    - tartanair
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_spring_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 8.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_midair_within_200_meters_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 10.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    condition_only_streams: []
+  - name: scannet
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 8.0
+    left_out_sources:
+    - dl3dv
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: dl3dv
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 6.0
+    left_out_sources:
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: wildrgbd
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: waymo
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: droid
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 10.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: pointodyssey_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams: []
+  - name: kubric_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+  frames: 49
+  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: nearest_labelled_depth_of_3x3_neighbours
+    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
+    tartanground: far_clip
+    paralleldomain4d: far_clip
+    syn4d_v2: far_clip
+    waymo: far_clip
+  pointmap_gauge: window_labelled_median_depth
+  geometry_image: genception_log_depth
+  context_len: 512
+  batch_size: 4
+  stream_seed: 42
+  epoch_windows: 32000000
+  val_set_proportion: 0.0
+  resume_state: null
+  gradient_accumulation_steps: 4
+  loader_workers: 12
+  loader_opencv_threads: 1
+  window_captions:
+    caption_dropout: 0.1
+    missing_caption: error
+    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_local_and_global_with_repaired_globals_20261031/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_local_and_global_with_repaired_globals_20261031/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_20261030/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_20261030/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
+      omniworld_game_gemini_local_official_text_chunks_and_gemini_global:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb_meta.json
+      synthverse_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb_meta.json
+      dynamic_replica_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb_meta.json
+      vkitti_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb_meta.json
+      midair_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      spring_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb_meta.json
+      tartanground_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      paralleldomain4d_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      scannet_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb_meta.json
+      pointodyssey_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb_meta.json
+      droid_vp_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb_meta.json
+      dl3dv_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb_meta.json
+      wildrgbd_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb_meta.json
+      kubric49_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb_meta.json
+      waymo_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb_meta.json
+    stanzas:
+      syn4d_v1:
+        product: syn4d_v1_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed_no_sim:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      tartanair:
+        product: tartanair_gemini_holo4d
+        join: local_covering
+      mvs_synth:
+        product: mvs_synth_gemini_holo4d
+        join: local_covering
+      omniworld_game:
+        product: omniworld_game_gemini_local_official_text_chunks_and_gemini_global
+        join: local_covering_then_second_local_covering_then_global
+      pointodyssey_test: none
+      kubric49_validation: none
+      wildrgbd_test: none
+      vkitti_test:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      droid_held_out: none
+      synthverse_depth:
+        product: synthverse_gemini_holo4d
+        join: local_covering_then_global
+      dynamic_replica:
+        product: dynamic_replica_gemini_holo4d
+        join: global
+      vkitti:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      midair:
+        product: midair_gemini_holo4d
+        join: local_covering_then_global
+      spring:
+        product: spring_gemini_holo4d
+        join: global
+      tartanground:
+        product: tartanground_gemini_holo4d
+        join: local_covering_then_global
+      paralleldomain4d:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      paralleldomain4d_validation:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      scannet:
+        product: scannet_gemini_holo4d
+        join: local_containing_then_global
+      pointodyssey_train:
+        product: pointodyssey_gemini_holo4d
+        join: local_containing_then_global
+      droid:
+        product: droid_vp_gemini_holo4d
+        join: global
+      dl3dv:
+        product: dl3dv_gemini_holo4d
+        join: local_containing_then_global
+      wildrgbd:
+        product: wildrgbd_text_captions
+        join: local_containing_then_global
+      kubric_train:
+        product: kubric49_text_captions
+        join: global_required
+      waymo:
+        product: waymo_gemini_holo4d
+        join: local_containing_then_global
+  training_scene_exclusions:
+    reason: rendered depth passes through glass (raw EXR depth through glass panes at 190-260 m), owner 10-29; evidence /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/syn4d_glass_depth_check_20261029;
+      scifiroom_bald added 10-30 from /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/depth_clipping_audit_20261030
+    stanzas:
+      syn4d_v1:
+      - bigoffice_v1
+      - lab_bald
+      - office_bald
+      - scifiroom_bald
+      syn4d_v2_mixed:
+      - citynight
+      - mall
+      - metro
+      syn4d_v2_mixed_no_sim:
+      - citynight
+      - mall
+      - metro
+  tracking_video:
+    query_grid_px: 10
+    disc_radius_px: 2
+    occluded_style: ring
+    ring_radius_px: 3
+    ring_width_px: 1
+    xyz_normalization: quantile_0.02_0.98
+    colour_floor: 0.2
+    min_frame_zero_points: 16
+    surface_test:
+      relative_tolerance: 0.1
+      absolute_tolerance: 0.05
+    stanza_rules:
+      tartanair: static_scene_points
+      midair: static_scene_points
+      mvs_synth: static_scene_points
+      tartanground: static_scene_points
+      syn4d_v1: tracked_points
+      syn4d_v2_mixed: tracked_points
+      syn4d_v2_mixed_no_sim: tracked_points
+      omniworld_game: no_tracking_video
+      synthverse_depth: no_tracking_video
+      dynamic_replica: tracked_points
+      vkitti: no_tracking_video
+      spring: no_tracking_video
+      paralleldomain4d: no_tracking_video
+      scannet: static_scene_points
+      wildrgbd_test: static_scene_points
+      pointodyssey_test: tracked_points
+      kubric49_validation: no_tracking_video
+      vkitti_test: no_tracking_video
+      droid_held_out: no_tracking_video
+      paralleldomain4d_validation: no_tracking_video
+      dynamic_replica_test: tracked_points
+      pointodyssey_train: tracked_points
+      kubric_train: tracked_points
+      droid: tracked_points
+      dl3dv: static_scene_points
+      wildrgbd: static_scene_points
+      waymo: no_tracking_video
+    stanza_track_reading:
+      syn4d_v1:
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      pointodyssey_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      dynamic_replica_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      syn4d_v2_mixed:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      syn4d_v2_mixed_no_sim:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      dynamic_replica:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      pointodyssey_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      kubric_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      droid:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+  source_reader_overrides:
+    dl3dv:
+      stanza: dl3dv
+      exclude_sequence_ids:
+      - 1K/0a1b7c20a92c43c6b8954b1ac909fb2f0fa8b2997b80604bc8bbec80a1cb2da3
+      - 1K/14eb48a50e37df548894ab6d8cd628a21dae14bbe6c462e894616fc5962e6c49
+      - 1K/1da888bdedfc9629c0fa9f82cf3f5d96f8103baee0ff64d9311aea1224a9f2ae
+      - 1K/2991a75d1f0fb2b7a891d424fc2459bb954b61599b52e74a056a7acfb2998b77
+      - 1K/2cbfe28643b6636f9c70813cae7625aa858a352109493ac70fb429ce94dd55b3
+      - 1K/5a27c00f525f5484b7aa0d0107051253bf7bb395bde0b3a4486ff8c52fb4965e
+      - 1K/6d221625614d0515fa44d59a8797a49b64f86bc775e66be22f07a66aa0a0cb3a
+      - 1K/917e9c8985d353b0ee4c281f11fa84eb8550814562670cbb82cd0ec9c1194fe7
+      - 1K/918c8dad730c3b804306c5da8486124be4aa0612e85fb825338fd350c912e1b0
+      - 1K/a17a984ca90a9b5840fdf85b15104b0d18e25975981c1aa90fcdfd6eeeb285f3
+      - 1K/a726c1112ad026efc92f59f196c0698e67abd12a04135a7ff6349b1d31b089eb
+      - 1K/adb95f29c15b8a89e40c17d10596679be09d7719c6f08a453facd506d056ea8b
+      - 1K/d1b3a0b37acc72207295b05e8c359f8b43bf879eb882c60747cfc6d3c7d8efa3
+      - 1K/eb4cf52988f805e6fce11d1b239fa9de32eb157364cff06ebac0aa50e0a46567
+      - 2K/032dee9fb0a8bc1b90871dc5fe950080d0bcd3caf166447f44e60ca50ac04ec7
+      - 2K/0853979305f7ecb80bd8fc2c8df916410d471ef04ed5f1a64e9651baa41d7695
+      - 2K/093ef327b4e4f9d4ee52c02a354a53558a8652157fb0d58f3b4a708734afb334
+      - 2K/0f8ac521439691fe429e9efbed8d5ded1cee35bcf52d47731fb60d5a2ff661a7
+      - 2K/1d6a9ed47cce39fd1c4d18f776bcc97e507b81bde921ca596bd91b0b02b5e414
+      - 2K/26fd23358fa11fff0fb3180ef0b65591b486e20dcf753ce4a7aae49a37e370c7
+      - 2K/280abf7bd93b81b077af1db638229dbb09869052fa0b7b57c81c94d2db893829
+      - 2K/2beaca318994c25409dcbb6d0bdd96c3620f2f18aec44ea3f20edd302f18ca78
+      - 2K/341b4ff3dfd3d377d7167bd81f443bedafbff003bf04881b99760fc0aeb69510
+      - 2K/374ffd0c5ff8e544f588f1da3ce0d5b69dc39ff3af95d7ccec480fe5e533c45e
+      - 2K/41036716da7efda334c1d434c4141d15642e0e02f881a01b6c8c36f8bea64c45
+      - 2K/484c0aca40c1087f196d2caf3c8cb463864c08e60b98326ca02eb6dae8ce4984
+      - 2K/4ff8650b5c1140e98d957fbd1abbe2cfbbb416b37cb9f06f7f376956703801bb
+      - 2K/513e4ea2e8477b06f2b32417d5c243aec71d491cb0596a60e9fe304c635f20a1
+      - 2K/8b9fb9d9f10e8c64d5034be69809465753b8ba88ef12da82afd47d38ee789934
+      - 2K/91afb9910b042f7185c2b8e4b6b24b5785dae4542617b3f8005b5492f6d123f7
+      - 2K/ba55c875d20c34ee85ffc72264c4d77710852e5fb7d9ce4b9c26a8442850e98f
+      - 2K/c076929db6501cf7ebe386c70e6d77ea3af844a745e794f2ec17c981c465a69b
+      - 2K/ceb252f5d4419510655cf9ed7afbf3e8e688825f798d80414c7715dc8ace153a
+      - 2K/df29c225863d0173e060b1f3fde4e6eb5a57a4e4edabd397026ba1a028aeb39e
+      - 2K/ff592398657b3dfe94153332861985194a3e3c9d199c4a3a27a0ce4038e81ade
+      - 3K/35872363e17af5d173b6a0b09fcf5de94627ad5dc5f8a9ad4c579f3e70b4797a
+      - 3K/387eeb925ba47af5db9ce6102aaf6b07e6d3573b7e7568dda4cef22d5ab1342f
+      - 3K/3bb894d1933f3081134ad2d40e54de5f0636bd8b502b0a8561873bb63b0dce85
+      - 3K/5c3af581028068a3c402c7cbe16ecf9471ddf2897c34ab634b7b1b6cf81aba00
+      - 3K/669c36225b273e22ce08364f166dce910b708d7abd89e58463a15d2790b534d5
+      - 3K/66fd66cbed40a2d11ecd17ae6d6d60cd60d476616864ecdd351fe69e644f30a1
+      - 3K/70eac6ff18a1daae4eeccc5eb18723eaf7e029a77e79c79d9573f7bac59ba92b
+      - 3K/75fbbe467353cfdeb93bc1872144855576797be83a0c71c51155ee6b355d6d5e
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+      - 7K/599ca3e04cae3ec83affc426af7d0d7ab36eb91cd8e539edbc13070a4d455792
+      - 7K/5c8dafad7d782c76ffad8c14e9e1244ce2b83aa12324c54a3cc10176964acf04
+      - 7K/63798f5c6fbfcb4eb686268248b8ecbc8d87d920b2bcce967eeaedfd3b3b6d82
+      - 7K/946f49be73928469000baa5ca04d2573137c5ee6a66362bcf8d130354dca8924
+      - 7K/9e9a89ae6fed06d6e2f4749b4b0059f35ca97f848cedc4a14345999e746f7884
+      - 7K/cd9c981eeb4a9091547af19181b382698e9d9eee0a838c7c9783a8a268af6aee
+      - 7K/d4fbeba0168af8fddb2fc695881787aedcd62f477c7dcec9ebca7b8594bbd95b
+    scannet:
+      stanza: scannet
+      caption_windows: true
+    pointodyssey_train:
+      stanza: pointodyssey_train
+      caption_windows: true
+      # Its local captions cover 96 native frames. A 49-frame draw must use
+      # stride 1 to stay inside that exact caption interval; the inherited
+      # [2, 4, 6, 8] choices do not fit any 96-frame caption window.
+      caption_compatible_temporal_strides:
+      - 1
+robot_sources:
+- name: robotwin
+  weight: 10.0
+  frames: 49
+  stride: 4
+  # Simulator ground truth: depth, camera and the arm tracks are generated targets (owner decision 2026-11-05); DINO too.
+  condition_only_streams: []
+  reader:
+    source_split_manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/flexpi_robotwin_robot_arm_track_video_20261023/split_manifest.json
+    source_split_sha256: 10467f314d57acf8deba64b94d0842b0dedcc256acf5f055df92203f7bf10f4e
+    pretrained_norm_stats: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/native_stats/dataset_stats.json
+  clean_train_split:
+    manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/split_manifest.json
+    sha256: 6511ed1a88a1047d74fb80dd11b1304f6d77abce6cbe3f56df4f5cf7b9f9ee7c
+    train_episodes: 26288
+    held_out_episodes: 150
+    excluded_clamped_episodes: 1062
+  geometry:
+    simulator_ground_truth: true
+    log_factor: 0.4
+    raymap_camera: {origin_fraction: 0.3333333333333333, origin_range: 1.0, decode_margin: 16, origin_box_grid: 1}
+    gauge: window_labelled_median_depth
+    release_root: /datasets/engs2907/FlexPi/robotwin_3d
+    calibration_root: /datasets/engs2907/FlexPi/robotwin_3d/calibration
+  # Two real clean-train windows at 21 frames through reader, DINO and the native batch adapter, on pin f6992c4b.
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/robotwin_readback.json
+    sha256: 785c7dde5f5f69a6a6fe30fe6accf56fe2380ab8903b7c9f2ec625d0501ecf2f
+- name: libero
+  weight: 6.0
+  frames: 49
+  stride: 4
+  condition_only_streams: []
+  reader:
+    hydra_overrides: []
+  geometry:
+    simulator_ground_truth: true
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/libero_readback.json
+    sha256: c8d49b7d87f64b45f1183ab8babc3c17d632e5345e0f697ed4a2aebc6fac4a0f
+real_video_sources: []
+molmo_motion_sources:
+- name: molmo_motion
+  weight: 6.0
+  frames: 49
+  # The camera is an input only, like every real source's camera; there is no depth. DINO and the tracking video are targets.
+  condition_only_streams: [camera]
+  reader:
+    config: train/mot/wan_camera_omega_video_depth_vae_and_sparse_future_prediction_molmo_motion_21_frames_512
+    stanza: molmo_motion
+    release_root: /vgg/yushi/dataset/MolmoMotion-1M
+    subsets: [egodex, xperience, stereo4d, hepic]
+    # Retain the prior relative weights for this initial 49-frame launch; these are not a newly measured 49-frame census.
+    subset_weights: {egodex: 133.6, xperience: 432.4, stereo4d: 210.9, hepic: 63.1}
+    temporal_stride: {egodex: 2, xperience: 1, stereo4d: 4, hepic: 1}
+    processed_release_only_subsets: [egodex, hepic]
+    # EgoDex and HD-EPIC use their processed release videos; neither raw-video path is used by this recipe.
+    # The pinned config leaves Xperience's `object` records out: their 3D was lifted with the 256-pixel camera matrix.
+    excluded_objects: {xperience: [object]}
+    max_window_redraws: 64
+  exclusions:
+    # The registered 120-record test cohort (the VGG held-out spec molmo_motion_test_120_records_droid_egodex_molmospaces_
+    # 49_frames_512; tools/omni4d/write_molmo_motion_test_cohort_manifest.py). The release's own test splits (DROID's too) and
+    # PointMotionBench (hot3d, worldtrack, davis) are asserted disjoint from the train records in code.
+    test_cohort_manifest:
+      path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_motion_20261105/cohort/molmo_motion_test_cohort_120_records.json
+      sha256: d1f8e8d8ad8f8f67c8bfd23319cdea026ea8cfcba1194b5f4594366e9f64fd76
+    point_motion_bench_root: /scratch/shared/engs2907/PointMotionBench
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_49frame_source_readback_20261107/attempt01/native_group_readback/molmo_motion_readback.json
+    sha256: ec0577a78e97db76f14cca0bd4d44ab87bc4e588f615fca242c1d675abb8dbb1
+launch_blockers: {}
+mixture_policy:
+  total_weight: 139.0
+  group_weights: {synthetic: 79.0, real_video: 22.0, robot: 26.0, tracks: 6.0, human_video: 6.0}
+  group_share_percent: {synthetic: 56.8, real_video: 15.8, robot: 18.7, tracks: 4.3, human_video: 4.3}
+  source_groups:
+    four_d_pretraining_relaunch_syn4d_sources: synthetic
+    four_d_pretraining_relaunch_omniworld_game_source: synthetic
+    four_d_pretraining_relaunch_synthverse_source: synthetic
+    four_d_pretraining_relaunch_vkitti_source: synthetic
+    four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_dynamic_replica_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_spring_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_midair_within_200_meters_source: synthetic
+    four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source: synthetic
+    scannet: real_video
+    dl3dv: real_video
+    wildrgbd: real_video
+    waymo: real_video
+    robotwin: robot
+    droid: robot
+    libero: robot
+    pointodyssey_train: tracks
+    kubric_train: tracks
+    molmo_motion: human_video

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/pointodyssey49_readback.json

@@ -0,0 +1,12 @@
+{
+  "blockers": [],
+  "failures": {},
+  "model_forward_or_training": false,
+  "sources_read": [
+    "pointodyssey_train",
+    "scannet"
+  ],
+  "status": "passed",
+  "windows_yaml": "/scratch/shared/engs2907/cosmos_long49_hdepic_20261107/cosmos_framework/configs/omni4d_vgg_stage_one_next_version_all_sources_plus_hdepic_49_frames_ddp_global32_b4_gas4.yaml",
+  "windows_yaml_sha256": "ff4f200255a52f69a3f5551d311156258dea1dace5ac4e7af47a6abf266f4ade"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/robotwin_readback.json

@@ -0,0 +1,192 @@
+{
+  "caption_coverage": null,
+  "dino_feature_shape": [
+    2,
+    3072,
+    13,
+    7,
+    7
+  ],
+  "frames": 49,
+  "model_forward_or_training": false,
+  "role_replay": null,
+  "rows": [
+    {
+      "caption_characters": 155,
+      "caption_sha256": "093a590922a30b657dbfcdb1b11f2f64a2c84455cdfd573e2fae68500ba2b09e",
+      "caption_tier": "source_task_instruction",
+      "condition_only_streams": [],
+      "frame_ids": [
+        0,
+        4,
+        8,
+        12,
+        16,
+        20,
+        24,
+        28,
+        32,
+        36,
+        40,
+        44,
+        48,
+        52,
+        56,
+        60,
+        64,
+        68,
+        72,
+        76,
+        80,
+        84,
+        88,
+        92,
+        96,
+        100,
+        104,
+        108,
+        112,
+        116,
+        120,
+        124,
+        128,
+        132,
+        136,
+        140,
+        144,
+        148,
+        152,
+        156,
+        160,
+        164,
+        168,
+        172,
+        176,
+        180,
+        184,
+        188,
+        192
+      ],
+      "labelled": {
+        "camera_valid": true,
+        "pointmap_valid": true,
+        "tracking_video_valid": true
+      },
+      "sequence": "robotwin/episode_02083",
+      "streams": {
+        "pointmap_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": 0.7545167803764343,
+          "min": -0.7566211223602295,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "raymap_camera_image": {
+          "dtype": "torch.float32",
+          "finite": true,
+          "max": 1.0,
+          "min": -1.0,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "rgb": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 10134820,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        },
+        "tracking_video": {
+          "dtype": "torch.uint8",
+          "nonzero_count": 42483,
+          "shape": [
+            49,
+            3,
+            288,
+            512
+          ]
+        }
+      }
+    }
+  ],
+  "source": "robotwin",
+  "status": "passed",
+  "vgg_commit": "f6992c4b67441dc9778642a252447a2687856116",
+  "window_identity": [
+    {
+      "episode": 2083,
+      "frame_ids": [
+        0,
+        4,
+        8,
+        12,
+        16,
+        20,
+        24,
+        28,
+        32,
+        36,
+        40,
+        44,
+        48,
+        52,
+        56,
+        60,
+        64,
+        68,
+        72,
+        76,
+        80,
+        84,
+        88,
+        92,
+        96,
+        100,
+        104,
+        108,
+        112,
+        116,
+        120,
+        124,
+        128,
+        132,
+        136,
+        140,
+        144,
+        148,
+        152,
+        156,
+        160,
+        164,
+        168,
+        172,
+        176,
+        180,
+        184,
+        188,
+        192
+      ],
+      "native_index": 170,
+      "requested_window": 0,
+      "sequence": "robotwin/episode_02083",
+      "underlying_reported": {
+        "requested_native_index": 170
+      },
+      "window_start": 0
+    }
+  ],
+  "windows": 1,
+  "windows_yaml_sha256": "f0b5f4dc89dc4face44830c3b16eb1f0699ca8a1d27a5fb9a98bcb06502064a4"
+}

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/source_commit.txt

@@ -0,0 +1 @@
+9cb0ceb0167ba45dc89abfe29ae740a59e91ac11

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/source_windows.yaml

@@ -0,0 +1,815 @@
+# B4/GAS4 49-frame continuation from the update-14,700 weights-only overlay; no Cityscapes.
+# This is a separate model-only run from an explicit five-stream overlay: 21 sources, total weight 139.
+# The Cityscapes source is deliberately omitted; the remaining real-video sources keep their prior weights.
+# Next Cosmos stage-one version: the owner's weighted mixture at 49 frames (decision 2026-11-07).
+#
+# Weights, not shares. Total 139 over 21 logical sources:
+#   synthetic   79  (56.8%)  the eleven synthetic sources at the 20,000-update Wan run's weights, unchanged:
+#                            syn4d 15.2, omniworld_game 8.75, synthverse 11.05, vkitti 6, tartanair 6, dynamic_replica 5,
+#                            spring 8, midair 3, mvs_synth 3, tartanground 3, paralleldomain4d 10
+#   real video  22  (15.8%)  ScanNet 8, DL3DV 6, WildRGB-D 4, Waymo 4; Cityscapes excluded.
+#   robot       26  (18.7%)  RoboTwin 10 (clean-train episodes only), DROID 10 (depth and camera as inputs only),
+#                            LIBERO 6 (official training demonstrations only); no action stream in stage one
+#   tracks       6  ( 4.3%)  PointOdyssey 3, Kubric 3
+#   human video  6  ( 4.3%)  MolmoMotion including HD-EPIC; DINO and sparse tracking video are targets, camera is input-only, depth absent
+# DINO is a generated target on the real-video sources (ScanNet, DL3DV, WildRGB-D, DROID, Waymo): it is computed from the
+# RGB, so it is exact on real data, and the future-feature forecasts the DINO-Foresight and VFMF comparisons make would
+# otherwise never train on real video. This changes the first launch's roles: the owner's rule is that geometry is
+# condition-only on real data, and that rule still holds for depth and camera, which stay inputs only here.
+# Waymo trains on the processed training split only (waymo.training.pickle.gz, SHA-256 6abd3476...: 798 sequences,
+# 158,081 frames; validation never enters training) through the pinned sparse-track reader's waymo stanza: sparse LiDAR
+# depth, the camera and the RGB; no tracking video; strides 1-4 at 21 frames.
+# No segmentation stream, no Cityscapes, no YAM.
+#
+# The VGG window block below is read by the pinned VGG checkout (vgg_commit) through VggStageOneWindowDataset: the
+# synthetic sources are the recorded 500K run's stanzas (omni4d_vgg_sparse_tracking_synthetic_continuation_sources.yaml,
+# SHA-256 ae49ec6d...) with the window length 49 and missing_caption: error. RoboTwin and LIBERO are read through
+# robot_sources (RobotEpisodeStageOneDataset) because the pinned VGG checkout has no Track4D reader for them.
+# The tracking-video query draw keeps the recorded 10-pixel grid (no query_count_range).
+#
+# Train membership of the real-video sources (official split files, 2026-11-05):
+#   DL3DV      the pinned reader ignores `split` and indexes every processed scene, 85 of which are official
+#              DL3DV-Benchmark (test) scenes. The 141 official benchmark scene hashes (Hugging Face
+#              DL3DV/DL3DV-Benchmark, dataset revision 9684e838) are in omni4d_dl3dv_official_benchmark_scene_hashes.txt;
+#              the 87 of them present in the processed 1K-7K root are added to the stanza's exclude_sequence_ids below
+#              (source_reader_overrides), leaving about 5,898 scenes.
+#   WildRGB-D  the pinned reader reads <category>/selected_seqs_train.json; those 2,244 processed train scenes are all in
+#              the official train-of-both lists (nvs_list.json and camera_eval_list.json of hongchi/wildrgbd, CUT3R's
+#              get_set_list rule) and overlap the official NVS and camera-evaluation validation scenes in none.
+#
+# launch_blockers names every evidence gap that stops the launch. A blocked source keeps its weight; composition
+# (omni4d_native_config.make_config) and the window dataset both refuse to start while the list is not empty. A robot
+# source additionally needs a passing real-window readback receipt (readback_receipt). WildRGB-D and Kubric train on
+# caption text converted by tools/omni4d/convert_stage_one_caption_texts.py (text-only products: no umT5 cache exists).
+#
+# VGG pin: the 500K run's f5a59cd51 plus the window-reader updates, processed-release EgoDex support, and the
+# native2048 Cityscapes caption-reader migration at f6992c4b. The approved raw EgoDex window and Cityscapes caption
+# product readbacks used this exact pin. City captions point to the completed 2026-11-06 converted text product below.
+# One makes the DROID and LIBERO robot window length the data node's num_frames: the pinned window class and the LIBERO
+# painter fixed the clock at 33 rows in five places, one a literal inside the painter's constructor; a project adapter
+# could only rebind module globals and fake attributes, so the smallest safe change is in the VGG source, with the
+# recorded 33-row nodes reading as before. Two DROID commits (cherry-picked from the VGG main stack, f5a59cd is their
+# ancestor) keep a window whose FK arm has no visible frame-0 query, with its source motion absent, instead of raising.
+# The fourth adds the stanza key position_windows (src/vggforecast/data/position_windows.py): each listed position range is
+# one window and the stride and start are drawn inside it. ScanNet and PointOdyssey use it (source_reader_overrides,
+# caption_windows: true) with the local caption windows of their products, so every window they draw lies inside one
+# caption window and the strict caption join never redraws. The fifth adds a waymo stanza to the stage-one real-source config
+# (no source uses it yet: every real source leaves it out). The pin is a separate checkout (a git worktree of the earlier pin
+# directory, which a running training still reads at 9cb6a626a), so the earlier pin's files never change under a run.
+vgg_repository: /scratch/shared/engs2907/vgg_pins/vgg_forecast_4d_cosmos_source_20261106_f6992c4
+vgg_commit: f6992c4b67441dc9778642a252447a2687856116
+recipe_source_config: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_wan22_5b_separate_streams_full_parameters_video_depth_camera_dino_and_sparse_tracking_video_from_the_15000_update_four_d_run_20261101/attempt02/run/config.yaml
+recipe_source_config_sha256: 72590f4598cae1b329c31b3cb45d059bdaeca23642faa10ca3f31372f9ebc0aa
+window_block:
+  _target_: four_d_windows.FourDPretrainingWindows
+  sources:
+  - name: four_d_pretraining_relaunch_syn4d_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: 15.2
+    left_out_sources:
+    - omniworld_game
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_omniworld_game_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_rendered_depth_sources_21_frames_512
+    weight: 8.75
+    left_out_sources:
+    - syn4d_v1
+    - syn4d_v2_mixed
+    - syn4d_v2_mixed_no_sim
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_synthverse_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 11.05
+    left_out_sources:
+    - dynamic_replica
+    - vkitti
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_vkitti_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - synthverse_depth
+    - dynamic_replica
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_dynamic_replica_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 5.0
+    left_out_sources:
+    - tartanair
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_spring_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 8.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_midair_within_200_meters_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 10.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    condition_only_streams: []
+  - name: scannet
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 8.0
+    left_out_sources:
+    - dl3dv
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: dl3dv
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 6.0
+    left_out_sources:
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: wildrgbd
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: waymo
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: droid
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 10.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: pointodyssey_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams: []
+  - name: kubric_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+  frames: 49
+  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: nearest_labelled_depth_of_3x3_neighbours
+    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
+    tartanground: far_clip
+    paralleldomain4d: far_clip
+    syn4d_v2: far_clip
+    waymo: far_clip
+  pointmap_gauge: window_labelled_median_depth
+  geometry_image: genception_log_depth
+  context_len: 512
+  batch_size: 4
+  stream_seed: 42
+  epoch_windows: 32000000
+  val_set_proportion: 0.0
+  resume_state: null
+  gradient_accumulation_steps: 4
+  loader_workers: 12
+  loader_opencv_threads: 1
+  window_captions:
+    caption_dropout: 0.1
+    missing_caption: error
+    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_local_and_global_with_repaired_globals_20261031/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_local_and_global_with_repaired_globals_20261031/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_20261030/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_20261030/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
+      omniworld_game_gemini_local_official_text_chunks_and_gemini_global:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb_meta.json
+      synthverse_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb_meta.json
+      dynamic_replica_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb_meta.json
+      vkitti_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb_meta.json
+      midair_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      spring_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb_meta.json
+      tartanground_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      paralleldomain4d_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      scannet_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb_meta.json
+      pointodyssey_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb_meta.json
+      droid_vp_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb_meta.json
+      dl3dv_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb_meta.json
+      wildrgbd_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb_meta.json
+      kubric49_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb_meta.json
+      waymo_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb_meta.json
+    stanzas:
+      syn4d_v1:
+        product: syn4d_v1_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed_no_sim:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      tartanair:
+        product: tartanair_gemini_holo4d
+        join: local_covering
+      mvs_synth:
+        product: mvs_synth_gemini_holo4d
+        join: local_covering
+      omniworld_game:
+        product: omniworld_game_gemini_local_official_text_chunks_and_gemini_global
+        join: local_covering_then_second_local_covering_then_global
+      pointodyssey_test: none
+      kubric49_validation: none
+      wildrgbd_test: none
+      vkitti_test:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      droid_held_out: none
+      synthverse_depth:
+        product: synthverse_gemini_holo4d
+        join: local_covering_then_global
+      dynamic_replica:
+        product: dynamic_replica_gemini_holo4d
+        join: global
+      vkitti:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      midair:
+        product: midair_gemini_holo4d
+        join: local_covering_then_global
+      spring:
+        product: spring_gemini_holo4d
+        join: global
+      tartanground:
+        product: tartanground_gemini_holo4d
+        join: local_covering_then_global
+      paralleldomain4d:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      paralleldomain4d_validation:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      scannet:
+        product: scannet_gemini_holo4d
+        join: local_containing_then_global
+      pointodyssey_train:
+        product: pointodyssey_gemini_holo4d
+        join: local_containing_then_global
+      droid:
+        product: droid_vp_gemini_holo4d
+        join: global
+      dl3dv:
+        product: dl3dv_gemini_holo4d
+        join: local_containing_then_global
+      wildrgbd:
+        product: wildrgbd_text_captions
+        join: local_containing_then_global
+      kubric_train:
+        product: kubric49_text_captions
+        join: global_required
+      waymo:
+        product: waymo_gemini_holo4d
+        join: local_containing_then_global
+  training_scene_exclusions:
+    reason: rendered depth passes through glass (raw EXR depth through glass panes at 190-260 m), owner 10-29; evidence /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/syn4d_glass_depth_check_20261029;
+      scifiroom_bald added 10-30 from /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/depth_clipping_audit_20261030
+    stanzas:
+      syn4d_v1:
+      - bigoffice_v1
+      - lab_bald
+      - office_bald
+      - scifiroom_bald
+      syn4d_v2_mixed:
+      - citynight
+      - mall
+      - metro
+      syn4d_v2_mixed_no_sim:
+      - citynight
+      - mall
+      - metro
+  tracking_video:
+    query_grid_px: 10
+    disc_radius_px: 2
+    occluded_style: ring
+    ring_radius_px: 3
+    ring_width_px: 1
+    xyz_normalization: quantile_0.02_0.98
+    colour_floor: 0.2
+    min_frame_zero_points: 16
+    surface_test:
+      relative_tolerance: 0.1
+      absolute_tolerance: 0.05
+    stanza_rules:
+      tartanair: static_scene_points
+      midair: static_scene_points
+      mvs_synth: static_scene_points
+      tartanground: static_scene_points
+      syn4d_v1: tracked_points
+      syn4d_v2_mixed: tracked_points
+      syn4d_v2_mixed_no_sim: tracked_points
+      omniworld_game: no_tracking_video
+      synthverse_depth: no_tracking_video
+      dynamic_replica: tracked_points
+      vkitti: no_tracking_video
+      spring: no_tracking_video
+      paralleldomain4d: no_tracking_video
+      scannet: static_scene_points
+      wildrgbd_test: static_scene_points
+      pointodyssey_test: tracked_points
+      kubric49_validation: no_tracking_video
+      vkitti_test: no_tracking_video
+      droid_held_out: no_tracking_video
+      paralleldomain4d_validation: no_tracking_video
+      dynamic_replica_test: tracked_points
+      pointodyssey_train: tracked_points
+      kubric_train: tracked_points
+      droid: tracked_points
+      dl3dv: static_scene_points
+      wildrgbd: static_scene_points
+      waymo: no_tracking_video
+    stanza_track_reading:
+      syn4d_v1:
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      pointodyssey_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      dynamic_replica_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      syn4d_v2_mixed:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      syn4d_v2_mixed_no_sim:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      dynamic_replica:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      pointodyssey_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      kubric_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      droid:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+  source_reader_overrides:
+    dl3dv:
+      stanza: dl3dv
+      exclude_sequence_ids:
+      - 1K/0a1b7c20a92c43c6b8954b1ac909fb2f0fa8b2997b80604bc8bbec80a1cb2da3
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+      - 4K/56452d9cd9e2e034764132a57058517ab085e1352f9664d2d1e10e98741334fc
+      - 4K/6d81c5ab0d480fd43d78b75ff372a8113ad38e2c03f1d69627c009883054d4c2
+      - 4K/9641a1ed7963ce5ca734cff3e6ccea3dfa8bcb0b0a3ff78f65d32a080de2d71e
+      - 4K/d3812aad538261e7f73c75762ff55f23b468bcc76f376d52ac86ca6cf3c44b4b
+      - 5K/0a485338bbdaf19ba9090b874bb36ef0599a9c9a475a382c22903cf5981c6ea6
+      - 5K/119fd56d3797e2d349ca64ddcc5851463cd13b5974b5b2e4566ed5cf7e02e6c1
+      - 5K/c37726ce770ac50a2cf5c0f43022f0268e26da0d777cd8e3a3418c4eed03fd94
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+      - 6K/7da3db99059a436adf537bc23309a6a4db9e011696d086f3a64037f7497d9df7
+      - 6K/e5684b3292bfd77db297839fc37ee4cce7fd59775af1a6a4827e3b4f59c036d3
+      - 6K/ec1e44d4dc0f8fa77610866495f9297a7f82158c43e1777668b84fd4b736c7bc
+      - 6K/ef59aac437132bfc1dd45a7e1f8e4800978e7bb28bf98c4428d26fb3e1da3e90
+      - 6K/f477ffc4b398bed8e0d921f0fba9825ca63f317381c535c84be23be991ae1d7a
+      - 7K/0569e83fdc248a51fc0ab082ce5e2baff15755c53c207f545e6d02d91f01d166
+      - 7K/073f5a9b983ced6fb28b23051260558b165f328a16b2d33fe20585b7ee4ad561
+      - 7K/183dd248f6a86e07c5adf9de8ee2d0abe45b1216331c03678e89634c2e9b1c7f
+      - 7K/1ba74c22670ad047981441581d00f26f4a148d1010bcac7468c615adf5fa4d5d
+      - 7K/389a460ca1995e0658e85fe8e6b520b4e88b370cd6710dfe728b1564bba31aee
+      - 7K/493816813d2d6d248eb3c2b0b77b63e54235266e9a06e270fd0d282f13960493
+      - 7K/4ae797d07b6d1644c9db6919c8cc8c0d28d72be45108ac7a3abf8dc21b599d83
+      - 7K/50c46cf8b8b22c8d2ffdef8964b05ddbceaef312c9a9ff331d1ecebfd223f72a
+      - 7K/565553aa894be621e8b4773cac288e60ad0c2cf7edb621be62b348c9a0f78380
+      - 7K/599ca3e04cae3ec83affc426af7d0d7ab36eb91cd8e539edbc13070a4d455792
+      - 7K/5c8dafad7d782c76ffad8c14e9e1244ce2b83aa12324c54a3cc10176964acf04
+      - 7K/63798f5c6fbfcb4eb686268248b8ecbc8d87d920b2bcce967eeaedfd3b3b6d82
+      - 7K/946f49be73928469000baa5ca04d2573137c5ee6a66362bcf8d130354dca8924
+      - 7K/9e9a89ae6fed06d6e2f4749b4b0059f35ca97f848cedc4a14345999e746f7884
+      - 7K/cd9c981eeb4a9091547af19181b382698e9d9eee0a838c7c9783a8a268af6aee
+      - 7K/d4fbeba0168af8fddb2fc695881787aedcd62f477c7dcec9ebca7b8594bbd95b
+    scannet:
+      stanza: scannet
+      caption_windows: true
+    pointodyssey_train:
+      stanza: pointodyssey_train
+      caption_windows: true
+      # Its local captions cover 96 native frames. A 49-frame draw must use
+      # stride 1 to stay inside that exact caption interval; the inherited
+      # [2, 4, 6, 8] choices do not fit any 96-frame caption window.
+      caption_compatible_temporal_strides:
+      - 1
+robot_sources:
+- name: robotwin
+  weight: 10.0
+  frames: 49
+  stride: 4
+  # Simulator ground truth: depth, camera and the arm tracks are generated targets (owner decision 2026-11-05); DINO too.
+  condition_only_streams: []
+  reader:
+    source_split_manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/flexpi_robotwin_robot_arm_track_video_20261023/split_manifest.json
+    source_split_sha256: 10467f314d57acf8deba64b94d0842b0dedcc256acf5f055df92203f7bf10f4e
+    pretrained_norm_stats: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/native_stats/dataset_stats.json
+  clean_train_split:
+    manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/split_manifest.json
+    sha256: 6511ed1a88a1047d74fb80dd11b1304f6d77abce6cbe3f56df4f5cf7b9f9ee7c
+    train_episodes: 26288
+    held_out_episodes: 150
+    excluded_clamped_episodes: 1062
+  geometry:
+    simulator_ground_truth: true
+    log_factor: 0.4
+    raymap_camera: {origin_fraction: 0.3333333333333333, origin_range: 1.0, decode_margin: 16, origin_box_grid: 1}
+    gauge: window_labelled_median_depth
+    release_root: /datasets/engs2907/FlexPi/robotwin_3d
+    calibration_root: /datasets/engs2907/FlexPi/robotwin_3d/calibration
+  # Two real clean-train windows at 21 frames through reader, DINO and the native batch adapter, on pin f6992c4b.
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/robotwin_readback.json
+    sha256: 785c7dde5f5f69a6a6fe30fe6accf56fe2380ab8903b7c9f2ec625d0501ecf2f
+- name: libero
+  weight: 6.0
+  frames: 49
+  stride: 4
+  condition_only_streams: []
+  reader:
+    hydra_overrides: []
+  geometry:
+    simulator_ground_truth: true
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/libero_readback.json
+    sha256: c8d49b7d87f64b45f1183ab8babc3c17d632e5345e0f697ed4a2aebc6fac4a0f
+real_video_sources: []
+molmo_motion_sources:
+- name: molmo_motion
+  weight: 6.0
+  frames: 49
+  # The camera is an input only, like every real source's camera; there is no depth. DINO and the tracking video are targets.
+  condition_only_streams: [camera]
+  reader:
+    config: train/mot/wan_camera_omega_video_depth_vae_and_sparse_future_prediction_molmo_motion_21_frames_512
+    stanza: molmo_motion
+    release_root: /vgg/yushi/dataset/MolmoMotion-1M
+    subsets: [egodex, xperience, stereo4d, hepic]
+    # Retain the prior relative weights for this initial 49-frame launch; these are not a newly measured 49-frame census.
+    subset_weights: {egodex: 133.6, xperience: 432.4, stereo4d: 210.9, hepic: 63.1}
+    temporal_stride: {egodex: 2, xperience: 1, stereo4d: 4, hepic: 1}
+    processed_release_only_subsets: [egodex, hepic]
+    # EgoDex and HD-EPIC use their processed release videos; neither raw-video path is used by this recipe.
+    # The pinned config leaves Xperience's `object` records out: their 3D was lifted with the 256-pixel camera matrix.
+    excluded_objects: {xperience: [object]}
+    max_window_redraws: 64
+  exclusions:
+    # The registered 120-record test cohort (the VGG held-out spec molmo_motion_test_120_records_droid_egodex_molmospaces_
+    # 49_frames_512; tools/omni4d/write_molmo_motion_test_cohort_manifest.py). The release's own test splits (DROID's too) and
+    # PointMotionBench (hot3d, worldtrack, davis) are asserted disjoint from the train records in code.
+    test_cohort_manifest:
+      path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_motion_20261105/cohort/molmo_motion_test_cohort_120_records.json
+      sha256: d1f8e8d8ad8f8f67c8bfd23319cdea026ea8cfcba1194b5f4594366e9f64fd76
+    point_motion_bench_root: /scratch/shared/engs2907/PointMotionBench
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_49frame_source_readback_20261107/attempt01/native_group_readback/molmo_motion_readback.json
+    sha256: ec0577a78e97db76f14cca0bd4d44ab87bc4e588f615fca242c1d675abb8dbb1
+launch_blockers: {}
+mixture_policy:
+  total_weight: 139.0
+  group_weights: {synthetic: 79.0, real_video: 22.0, robot: 26.0, tracks: 6.0, human_video: 6.0}
+  group_share_percent: {synthetic: 56.8, real_video: 15.8, robot: 18.7, tracks: 4.3, human_video: 4.3}
+  source_groups:
+    four_d_pretraining_relaunch_syn4d_sources: synthetic
+    four_d_pretraining_relaunch_omniworld_game_source: synthetic
+    four_d_pretraining_relaunch_synthverse_source: synthetic
+    four_d_pretraining_relaunch_vkitti_source: synthetic
+    four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_dynamic_replica_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_spring_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_midair_within_200_meters_source: synthetic
+    four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source: synthetic
+    scannet: real_video
+    dl3dv: real_video
+    wildrgbd: real_video
+    waymo: real_video
+    robotwin: robot
+    droid: robot
+    libero: robot
+    pointodyssey_train: tracks
+    kubric_train: tracks
+    molmo_motion: human_video

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/source_windows_recipe.yaml

@@ -0,0 +1,815 @@
+# B4/GAS4 49-frame continuation from the update-14,700 weights-only overlay; no Cityscapes.
+# This is a separate model-only run from an explicit five-stream overlay: 21 sources, total weight 139.
+# The Cityscapes source is deliberately omitted; the remaining real-video sources keep their prior weights.
+# Next Cosmos stage-one version: the owner's weighted mixture at 49 frames (decision 2026-11-07).
+#
+# Weights, not shares. Total 139 over 21 logical sources:
+#   synthetic   79  (56.8%)  the eleven synthetic sources at the 20,000-update Wan run's weights, unchanged:
+#                            syn4d 15.2, omniworld_game 8.75, synthverse 11.05, vkitti 6, tartanair 6, dynamic_replica 5,
+#                            spring 8, midair 3, mvs_synth 3, tartanground 3, paralleldomain4d 10
+#   real video  22  (15.8%)  ScanNet 8, DL3DV 6, WildRGB-D 4, Waymo 4; Cityscapes excluded.
+#   robot       26  (18.7%)  RoboTwin 10 (clean-train episodes only), DROID 10 (depth and camera as inputs only),
+#                            LIBERO 6 (official training demonstrations only); no action stream in stage one
+#   tracks       6  ( 4.3%)  PointOdyssey 3, Kubric 3
+#   human video  6  ( 4.3%)  MolmoMotion including HD-EPIC; DINO and sparse tracking video are targets, camera is input-only, depth absent
+# DINO is a generated target on the real-video sources (ScanNet, DL3DV, WildRGB-D, DROID, Waymo): it is computed from the
+# RGB, so it is exact on real data, and the future-feature forecasts the DINO-Foresight and VFMF comparisons make would
+# otherwise never train on real video. This changes the first launch's roles: the owner's rule is that geometry is
+# condition-only on real data, and that rule still holds for depth and camera, which stay inputs only here.
+# Waymo trains on the processed training split only (waymo.training.pickle.gz, SHA-256 6abd3476...: 798 sequences,
+# 158,081 frames; validation never enters training) through the pinned sparse-track reader's waymo stanza: sparse LiDAR
+# depth, the camera and the RGB; no tracking video; strides 1-4 at 21 frames.
+# No segmentation stream, no Cityscapes, no YAM.
+#
+# The VGG window block below is read by the pinned VGG checkout (vgg_commit) through VggStageOneWindowDataset: the
+# synthetic sources are the recorded 500K run's stanzas (omni4d_vgg_sparse_tracking_synthetic_continuation_sources.yaml,
+# SHA-256 ae49ec6d...) with the window length 49 and missing_caption: error. RoboTwin and LIBERO are read through
+# robot_sources (RobotEpisodeStageOneDataset) because the pinned VGG checkout has no Track4D reader for them.
+# The tracking-video query draw keeps the recorded 10-pixel grid (no query_count_range).
+#
+# Train membership of the real-video sources (official split files, 2026-11-05):
+#   DL3DV      the pinned reader ignores `split` and indexes every processed scene, 85 of which are official
+#              DL3DV-Benchmark (test) scenes. The 141 official benchmark scene hashes (Hugging Face
+#              DL3DV/DL3DV-Benchmark, dataset revision 9684e838) are in omni4d_dl3dv_official_benchmark_scene_hashes.txt;
+#              the 87 of them present in the processed 1K-7K root are added to the stanza's exclude_sequence_ids below
+#              (source_reader_overrides), leaving about 5,898 scenes.
+#   WildRGB-D  the pinned reader reads <category>/selected_seqs_train.json; those 2,244 processed train scenes are all in
+#              the official train-of-both lists (nvs_list.json and camera_eval_list.json of hongchi/wildrgbd, CUT3R's
+#              get_set_list rule) and overlap the official NVS and camera-evaluation validation scenes in none.
+#
+# launch_blockers names every evidence gap that stops the launch. A blocked source keeps its weight; composition
+# (omni4d_native_config.make_config) and the window dataset both refuse to start while the list is not empty. A robot
+# source additionally needs a passing real-window readback receipt (readback_receipt). WildRGB-D and Kubric train on
+# caption text converted by tools/omni4d/convert_stage_one_caption_texts.py (text-only products: no umT5 cache exists).
+#
+# VGG pin: the 500K run's f5a59cd51 plus the window-reader updates, processed-release EgoDex support, and the
+# native2048 Cityscapes caption-reader migration at f6992c4b. The approved raw EgoDex window and Cityscapes caption
+# product readbacks used this exact pin. City captions point to the completed 2026-11-06 converted text product below.
+# One makes the DROID and LIBERO robot window length the data node's num_frames: the pinned window class and the LIBERO
+# painter fixed the clock at 33 rows in five places, one a literal inside the painter's constructor; a project adapter
+# could only rebind module globals and fake attributes, so the smallest safe change is in the VGG source, with the
+# recorded 33-row nodes reading as before. Two DROID commits (cherry-picked from the VGG main stack, f5a59cd is their
+# ancestor) keep a window whose FK arm has no visible frame-0 query, with its source motion absent, instead of raising.
+# The fourth adds the stanza key position_windows (src/vggforecast/data/position_windows.py): each listed position range is
+# one window and the stride and start are drawn inside it. ScanNet and PointOdyssey use it (source_reader_overrides,
+# caption_windows: true) with the local caption windows of their products, so every window they draw lies inside one
+# caption window and the strict caption join never redraws. The fifth adds a waymo stanza to the stage-one real-source config
+# (no source uses it yet: every real source leaves it out). The pin is a separate checkout (a git worktree of the earlier pin
+# directory, which a running training still reads at 9cb6a626a), so the earlier pin's files never change under a run.
+vgg_repository: /scratch/shared/engs2907/vgg_pins/vgg_forecast_4d_cosmos_source_20261106_f6992c4
+vgg_commit: f6992c4b67441dc9778642a252447a2687856116
+recipe_source_config: /scratch/shared/engs2907/logs/vgg_forecast_4d/train/flexpi_four_d_pretraining_wan22_5b_separate_streams_full_parameters_video_depth_camera_dino_and_sparse_tracking_video_from_the_15000_update_four_d_run_20261101/attempt02/run/config.yaml
+recipe_source_config_sha256: 72590f4598cae1b329c31b3cb45d059bdaeca23642faa10ca3f31372f9ebc0aa
+window_block:
+  _target_: four_d_windows.FourDPretrainingWindows
+  sources:
+  - name: four_d_pretraining_relaunch_syn4d_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: 15.2
+    left_out_sources:
+    - omniworld_game
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_omniworld_game_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_rendered_depth_sources_21_frames_512
+    weight: 8.75
+    left_out_sources:
+    - syn4d_v1
+    - syn4d_v2_mixed
+    - syn4d_v2_mixed_no_sim
+    - tartanair
+    - mvs_synth
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_synthverse_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 11.05
+    left_out_sources:
+    - dynamic_replica
+    - vkitti
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_vkitti_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_synthverse_dynamic_replica_vkitti_midair_spring_sources_without_midair_quality_masks_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - synthverse_depth
+    - dynamic_replica
+    - midair
+    - spring
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 6.0
+    left_out_sources:
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_dynamic_replica_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 5.0
+    left_out_sources:
+    - tartanair
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_spring_stored_depth_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 8.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - midair
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_midair_within_200_meters_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - mvs_synth
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - tartanground
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 3.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - paralleldomain4d
+    condition_only_streams: []
+  - name: four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source
+    kind: track4d_source_config
+    config: train/mot/wan_video_depth_vae_from_video_four_d_pretraining_relaunch_sky_and_far_percentile_depth_validity_rules_21_frames_512
+    weight: 10.0
+    left_out_sources:
+    - tartanair
+    - dynamic_replica
+    - spring
+    - midair
+    - mvs_synth
+    - tartanground
+    condition_only_streams: []
+  - name: scannet
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 8.0
+    left_out_sources:
+    - dl3dv
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: dl3dv
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 6.0
+    left_out_sources:
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: wildrgbd
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: waymo
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 4.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - droid
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: droid
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 10.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - kubric_train
+    - waymo
+    condition_only_streams:
+    - pointmap
+    - camera
+  - name: pointodyssey_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - kubric_train
+    - droid
+    - waymo
+    condition_only_streams: []
+  - name: kubric_train
+    kind: track4d_source_config
+    config: train/mot/stage_one_real_and_native_track_source_windows_9_frames_288_512
+    weight: 3.0
+    left_out_sources:
+    - dl3dv
+    - scannet
+    - wildrgbd
+    - pointodyssey_train
+    - droid
+    - waymo
+    condition_only_streams:
+    - pointmap
+  frames: 49
+  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: nearest_labelled_depth_of_3x3_neighbours
+    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
+    tartanground: far_clip
+    paralleldomain4d: far_clip
+    syn4d_v2: far_clip
+    waymo: far_clip
+  pointmap_gauge: window_labelled_median_depth
+  geometry_image: genception_log_depth
+  context_len: 512
+  batch_size: 4
+  stream_seed: 42
+  epoch_windows: 32000000
+  val_set_proportion: 0.0
+  resume_state: null
+  gradient_accumulation_steps: 4
+  loader_workers: 12
+  loader_opencv_threads: 1
+  window_captions:
+    caption_dropout: 0.1
+    missing_caption: error
+    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_local_and_global_with_repaired_globals_20261031/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_local_and_global_with_repaired_globals_20261031/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_20261030/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_20261030/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
+      omniworld_game_gemini_local_official_text_chunks_and_gemini_global:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/omniworld_game_gemini_local_official_text_chunks_and_gemini_global_20261030b/captions_t5_emb_meta.json
+      synthverse_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/synthverse_gemini_holo4d_local96_and_global_20261031/captions_t5_emb_meta.json
+      dynamic_replica_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dynamic_replica_gemini_holo4d/captions_t5_emb_meta.json
+      vkitti_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/vkitti_gemini_holo4d/captions_t5_emb_meta.json
+      midair_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/midair_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      spring_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/spring_gemini_holo4d/captions_t5_emb_meta.json
+      tartanground_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/tartanground_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      paralleldomain4d_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/paralleldomain4d_gemini_holo4d_20261030/captions_t5_emb_meta.json
+      scannet_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.scannet_gemini_holo4d.version-tovvjwai/captions_t5_emb_meta.json
+      pointodyssey_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.pointodyssey_gemini_holo4d.version-6vfyvsbi/captions_t5_emb_meta.json
+      droid_vp_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/.droid_vp_gemini_holo4d.version-e51r5urf/captions_t5_emb_meta.json
+      dl3dv_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/wan_umt5_captions/four_d_window_captions_512/dl3dv_gemini_holo4d_20261031/captions_t5_emb_meta.json
+      wildrgbd_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/wildrgbd_text_captions/captions_t5_emb_meta.json
+      kubric49_text_captions:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/kubric49_text_captions/captions_t5_emb_meta.json
+      waymo_gemini_holo4d:
+        embeddings: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb.safetensors
+        meta: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/cosmos_caption_texts_20261105/waymo_gemini_holo4d/captions_t5_emb_meta.json
+    stanzas:
+      syn4d_v1:
+        product: syn4d_v1_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      syn4d_v2_mixed_no_sim:
+        product: syn4d_v2_gemini_holo4d
+        join: local_covering_then_global
+      tartanair:
+        product: tartanair_gemini_holo4d
+        join: local_covering
+      mvs_synth:
+        product: mvs_synth_gemini_holo4d
+        join: local_covering
+      omniworld_game:
+        product: omniworld_game_gemini_local_official_text_chunks_and_gemini_global
+        join: local_covering_then_second_local_covering_then_global
+      pointodyssey_test: none
+      kubric49_validation: none
+      wildrgbd_test: none
+      vkitti_test:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      droid_held_out: none
+      synthverse_depth:
+        product: synthverse_gemini_holo4d
+        join: local_covering_then_global
+      dynamic_replica:
+        product: dynamic_replica_gemini_holo4d
+        join: global
+      vkitti:
+        product: vkitti_gemini_holo4d
+        join: local_covering_then_global
+      midair:
+        product: midair_gemini_holo4d
+        join: local_covering_then_global
+      spring:
+        product: spring_gemini_holo4d
+        join: global
+      tartanground:
+        product: tartanground_gemini_holo4d
+        join: local_covering_then_global
+      paralleldomain4d:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      paralleldomain4d_validation:
+        product: paralleldomain4d_gemini_holo4d
+        join: global
+      scannet:
+        product: scannet_gemini_holo4d
+        join: local_containing_then_global
+      pointodyssey_train:
+        product: pointodyssey_gemini_holo4d
+        join: local_containing_then_global
+      droid:
+        product: droid_vp_gemini_holo4d
+        join: global
+      dl3dv:
+        product: dl3dv_gemini_holo4d
+        join: local_containing_then_global
+      wildrgbd:
+        product: wildrgbd_text_captions
+        join: local_containing_then_global
+      kubric_train:
+        product: kubric49_text_captions
+        join: global_required
+      waymo:
+        product: waymo_gemini_holo4d
+        join: local_containing_then_global
+  training_scene_exclusions:
+    reason: rendered depth passes through glass (raw EXR depth through glass panes at 190-260 m), owner 10-29; evidence /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/syn4d_glass_depth_check_20261029;
+      scifiroom_bald added 10-30 from /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/depth_clipping_audit_20261030
+    stanzas:
+      syn4d_v1:
+      - bigoffice_v1
+      - lab_bald
+      - office_bald
+      - scifiroom_bald
+      syn4d_v2_mixed:
+      - citynight
+      - mall
+      - metro
+      syn4d_v2_mixed_no_sim:
+      - citynight
+      - mall
+      - metro
+  tracking_video:
+    query_grid_px: 10
+    disc_radius_px: 2
+    occluded_style: ring
+    ring_radius_px: 3
+    ring_width_px: 1
+    xyz_normalization: quantile_0.02_0.98
+    colour_floor: 0.2
+    min_frame_zero_points: 16
+    surface_test:
+      relative_tolerance: 0.1
+      absolute_tolerance: 0.05
+    stanza_rules:
+      tartanair: static_scene_points
+      midair: static_scene_points
+      mvs_synth: static_scene_points
+      tartanground: static_scene_points
+      syn4d_v1: tracked_points
+      syn4d_v2_mixed: tracked_points
+      syn4d_v2_mixed_no_sim: tracked_points
+      omniworld_game: no_tracking_video
+      synthverse_depth: no_tracking_video
+      dynamic_replica: tracked_points
+      vkitti: no_tracking_video
+      spring: no_tracking_video
+      paralleldomain4d: no_tracking_video
+      scannet: static_scene_points
+      wildrgbd_test: static_scene_points
+      pointodyssey_test: tracked_points
+      kubric49_validation: no_tracking_video
+      vkitti_test: no_tracking_video
+      droid_held_out: no_tracking_video
+      paralleldomain4d_validation: no_tracking_video
+      dynamic_replica_test: tracked_points
+      pointodyssey_train: tracked_points
+      kubric_train: tracked_points
+      droid: tracked_points
+      dl3dv: static_scene_points
+      wildrgbd: static_scene_points
+      waymo: no_tracking_video
+    stanza_track_reading:
+      syn4d_v1:
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      pointodyssey_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      dynamic_replica_test:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      syn4d_v2_mixed:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      syn4d_v2_mixed_no_sim:
+        loader: syn4d_v2
+        stanza:
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+          annotation_provenance: syn4d_v2_mesh_surface_forward_track_from_frame0
+          allow_missing_tracks: false
+        kwargs:
+          return_tracks: true
+          depth_only: false
+          metadata_root: /vgg/chenzhao/syn4d_metadata
+          tracking_format: safetensor
+          mask_bg: false
+          trusted_background_depth_max: 80.0
+          wrapped_face_distance_thresh: 0.1
+          query_inconsistent_distance_thresh: 0.1
+      dynamic_replica:
+        stanza:
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      pointodyssey_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      kubric_train:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+      droid:
+        stanza:
+          allow_missing_tracks: false
+          capability: dynamic_cross_time
+          supervision:
+          - pointmap
+          - source_motion
+        kwargs:
+          return_tracks: true
+  source_reader_overrides:
+    dl3dv:
+      stanza: dl3dv
+      exclude_sequence_ids:
+      - 1K/0a1b7c20a92c43c6b8954b1ac909fb2f0fa8b2997b80604bc8bbec80a1cb2da3
+      - 1K/14eb48a50e37df548894ab6d8cd628a21dae14bbe6c462e894616fc5962e6c49
+      - 1K/1da888bdedfc9629c0fa9f82cf3f5d96f8103baee0ff64d9311aea1224a9f2ae
+      - 1K/2991a75d1f0fb2b7a891d424fc2459bb954b61599b52e74a056a7acfb2998b77
+      - 1K/2cbfe28643b6636f9c70813cae7625aa858a352109493ac70fb429ce94dd55b3
+      - 1K/5a27c00f525f5484b7aa0d0107051253bf7bb395bde0b3a4486ff8c52fb4965e
+      - 1K/6d221625614d0515fa44d59a8797a49b64f86bc775e66be22f07a66aa0a0cb3a
+      - 1K/917e9c8985d353b0ee4c281f11fa84eb8550814562670cbb82cd0ec9c1194fe7
+      - 1K/918c8dad730c3b804306c5da8486124be4aa0612e85fb825338fd350c912e1b0
+      - 1K/a17a984ca90a9b5840fdf85b15104b0d18e25975981c1aa90fcdfd6eeeb285f3
+      - 1K/a726c1112ad026efc92f59f196c0698e67abd12a04135a7ff6349b1d31b089eb
+      - 1K/adb95f29c15b8a89e40c17d10596679be09d7719c6f08a453facd506d056ea8b
+      - 1K/d1b3a0b37acc72207295b05e8c359f8b43bf879eb882c60747cfc6d3c7d8efa3
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+      - 2K/8b9fb9d9f10e8c64d5034be69809465753b8ba88ef12da82afd47d38ee789934
+      - 2K/91afb9910b042f7185c2b8e4b6b24b5785dae4542617b3f8005b5492f6d123f7
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+      - 3K/70eac6ff18a1daae4eeccc5eb18723eaf7e029a77e79c79d9573f7bac59ba92b
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+      - 3K/8cb2e97d26a639f05a571476240a8fa86988e6853f0f13cc05830d1578002aad
+      - 3K/9cbc5548643ca9cfe797f871bac58bccd02f0510c49b7cb3697b38dfd780a508
+      - 3K/a62f9a1c6362e7c8a3440261ea0921a0a4b60cf5822bd19579836694f26b3abd
+      - 3K/adf35184a12d4cfa3f4248b87aa5adb4f39f179df460d6d76136e13d37299a2a
+      - 3K/af0d7039e64af3959210c235e59425896ac064f4e0f721c437bbd2cf1d8ea910
+      - 3K/b3bf9079b442c681749f6bd95cfb0659c6d844f2228b2f4fa4b602a0e3627b9a
+      - 3K/b6d1134cb03c855d246f916beaa2d3d01290cf47937a5176011ff39b850ec615
+      - 3K/d8de66037bd03dd0d39d54f9978bac3318d912e30e22c21e1ada82a98ed48c53
+      - 3K/ddfdcfdf02d53dd89a055cd9e1ed30272ab3f57c7560ac2c3761bb01d76a7882
+      - 3K/e8ce51b6abfe05bf8dca47e29c8be6c1e6de27a8c9fece7a121400b931b2ca0f
+      - 3K/e9360e7a89bee835dc847cf8796093e634b759ff582558788dcfe8326f6e8901
+      - 3K/f7aaea9ac683bb1945cfeb1daa9abca3375249e0d19281a89a3f575040835464
+      - 4K/56452d9cd9e2e034764132a57058517ab085e1352f9664d2d1e10e98741334fc
+      - 4K/6d81c5ab0d480fd43d78b75ff372a8113ad38e2c03f1d69627c009883054d4c2
+      - 4K/9641a1ed7963ce5ca734cff3e6ccea3dfa8bcb0b0a3ff78f65d32a080de2d71e
+      - 4K/d3812aad538261e7f73c75762ff55f23b468bcc76f376d52ac86ca6cf3c44b4b
+      - 5K/0a485338bbdaf19ba9090b874bb36ef0599a9c9a475a382c22903cf5981c6ea6
+      - 5K/119fd56d3797e2d349ca64ddcc5851463cd13b5974b5b2e4566ed5cf7e02e6c1
+      - 5K/c37726ce770ac50a2cf5c0f43022f0268e26da0d777cd8e3a3418c4eed03fd94
+      - 5K/dac9796dd69e1c25277e29d7e30af4f21e3b575d62a0a208c2b3d1211e2d5d77
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+      - 6K/7da3db99059a436adf537bc23309a6a4db9e011696d086f3a64037f7497d9df7
+      - 6K/e5684b3292bfd77db297839fc37ee4cce7fd59775af1a6a4827e3b4f59c036d3
+      - 6K/ec1e44d4dc0f8fa77610866495f9297a7f82158c43e1777668b84fd4b736c7bc
+      - 6K/ef59aac437132bfc1dd45a7e1f8e4800978e7bb28bf98c4428d26fb3e1da3e90
+      - 6K/f477ffc4b398bed8e0d921f0fba9825ca63f317381c535c84be23be991ae1d7a
+      - 7K/0569e83fdc248a51fc0ab082ce5e2baff15755c53c207f545e6d02d91f01d166
+      - 7K/073f5a9b983ced6fb28b23051260558b165f328a16b2d33fe20585b7ee4ad561
+      - 7K/183dd248f6a86e07c5adf9de8ee2d0abe45b1216331c03678e89634c2e9b1c7f
+      - 7K/1ba74c22670ad047981441581d00f26f4a148d1010bcac7468c615adf5fa4d5d
+      - 7K/389a460ca1995e0658e85fe8e6b520b4e88b370cd6710dfe728b1564bba31aee
+      - 7K/493816813d2d6d248eb3c2b0b77b63e54235266e9a06e270fd0d282f13960493
+      - 7K/4ae797d07b6d1644c9db6919c8cc8c0d28d72be45108ac7a3abf8dc21b599d83
+      - 7K/50c46cf8b8b22c8d2ffdef8964b05ddbceaef312c9a9ff331d1ecebfd223f72a
+      - 7K/565553aa894be621e8b4773cac288e60ad0c2cf7edb621be62b348c9a0f78380
+      - 7K/599ca3e04cae3ec83affc426af7d0d7ab36eb91cd8e539edbc13070a4d455792
+      - 7K/5c8dafad7d782c76ffad8c14e9e1244ce2b83aa12324c54a3cc10176964acf04
+      - 7K/63798f5c6fbfcb4eb686268248b8ecbc8d87d920b2bcce967eeaedfd3b3b6d82
+      - 7K/946f49be73928469000baa5ca04d2573137c5ee6a66362bcf8d130354dca8924
+      - 7K/9e9a89ae6fed06d6e2f4749b4b0059f35ca97f848cedc4a14345999e746f7884
+      - 7K/cd9c981eeb4a9091547af19181b382698e9d9eee0a838c7c9783a8a268af6aee
+      - 7K/d4fbeba0168af8fddb2fc695881787aedcd62f477c7dcec9ebca7b8594bbd95b
+    scannet:
+      stanza: scannet
+      caption_windows: true
+    pointodyssey_train:
+      stanza: pointodyssey_train
+      caption_windows: true
+      # Its local captions cover 96 native frames. A 49-frame draw must use
+      # stride 1 to stay inside that exact caption interval; the inherited
+      # [2, 4, 6, 8] choices do not fit any 96-frame caption window.
+      caption_compatible_temporal_strides:
+      - 1
+robot_sources:
+- name: robotwin
+  weight: 10.0
+  frames: 49
+  stride: 4
+  # Simulator ground truth: depth, camera and the arm tracks are generated targets (owner decision 2026-11-05); DINO too.
+  condition_only_streams: []
+  reader:
+    source_split_manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/flexpi_robotwin_robot_arm_track_video_20261023/split_manifest.json
+    source_split_sha256: 10467f314d57acf8deba64b94d0842b0dedcc256acf5f055df92203f7bf10f4e
+    pretrained_norm_stats: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/native_stats/dataset_stats.json
+  clean_train_split:
+    manifest: /scratch/shared/engs2907/logs/vgg_forecast_4d/cache/robotwin_action_image_clean_train_filtered_20261102/split_manifest.json
+    sha256: 6511ed1a88a1047d74fb80dd11b1304f6d77abce6cbe3f56df4f5cf7b9f9ee7c
+    train_episodes: 26288
+    held_out_episodes: 150
+    excluded_clamped_episodes: 1062
+  geometry:
+    simulator_ground_truth: true
+    log_factor: 0.4
+    raymap_camera: {origin_fraction: 0.3333333333333333, origin_range: 1.0, decode_margin: 16, origin_box_grid: 1}
+    gauge: window_labelled_median_depth
+    release_root: /datasets/engs2907/FlexPi/robotwin_3d
+    calibration_root: /datasets/engs2907/FlexPi/robotwin_3d/calibration
+  # Two real clean-train windows at 21 frames through reader, DINO and the native batch adapter, on pin f6992c4b.
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/robotwin_readback.json
+    sha256: 785c7dde5f5f69a6a6fe30fe6accf56fe2380ab8903b7c9f2ec625d0501ecf2f
+- name: libero
+  weight: 6.0
+  frames: 49
+  stride: 4
+  condition_only_streams: []
+  reader:
+    hydra_overrides: []
+  geometry:
+    simulator_ground_truth: true
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_nano_two_training_restart_20261107/attempt01/robot49_cpu/results/libero_readback.json
+    sha256: c8d49b7d87f64b45f1183ab8babc3c17d632e5345e0f697ed4a2aebc6fac4a0f
+real_video_sources: []
+molmo_motion_sources:
+- name: molmo_motion
+  weight: 6.0
+  frames: 49
+  # The camera is an input only, like every real source's camera; there is no depth. DINO and the tracking video are targets.
+  condition_only_streams: [camera]
+  reader:
+    config: train/mot/wan_camera_omega_video_depth_vae_and_sparse_future_prediction_molmo_motion_21_frames_512
+    stanza: molmo_motion
+    release_root: /vgg/yushi/dataset/MolmoMotion-1M
+    subsets: [egodex, xperience, stereo4d, hepic]
+    # Retain the prior relative weights for this initial 49-frame launch; these are not a newly measured 49-frame census.
+    subset_weights: {egodex: 133.6, xperience: 432.4, stereo4d: 210.9, hepic: 63.1}
+    temporal_stride: {egodex: 2, xperience: 1, stereo4d: 4, hepic: 1}
+    processed_release_only_subsets: [egodex, hepic]
+    # EgoDex and HD-EPIC use their processed release videos; neither raw-video path is used by this recipe.
+    # The pinned config leaves Xperience's `object` records out: their 3D was lifted with the 256-pixel camera matrix.
+    excluded_objects: {xperience: [object]}
+    max_window_redraws: 64
+  exclusions:
+    # The registered 120-record test cohort (the VGG held-out spec molmo_motion_test_120_records_droid_egodex_molmospaces_
+    # 49_frames_512; tools/omni4d/write_molmo_motion_test_cohort_manifest.py). The release's own test splits (DROID's too) and
+    # PointMotionBench (hot3d, worldtrack, davis) are asserted disjoint from the train records in code.
+    test_cohort_manifest:
+      path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_motion_20261105/cohort/molmo_motion_test_cohort_120_records.json
+      sha256: d1f8e8d8ad8f8f67c8bfd23319cdea026ea8cfcba1194b5f4594366e9f64fd76
+    point_motion_bench_root: /scratch/shared/engs2907/PointMotionBench
+  readback_receipt:
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_molmo_49frame_source_readback_20261107/attempt01/native_group_readback/molmo_motion_readback.json
+    sha256: ec0577a78e97db76f14cca0bd4d44ab87bc4e588f615fca242c1d675abb8dbb1
+launch_blockers: {}
+mixture_policy:
+  total_weight: 139.0
+  group_weights: {synthetic: 79.0, real_video: 22.0, robot: 26.0, tracks: 6.0, human_video: 6.0}
+  group_share_percent: {synthetic: 56.8, real_video: 15.8, robot: 18.7, tracks: 4.3, human_video: 4.3}
+  source_groups:
+    four_d_pretraining_relaunch_syn4d_sources: synthetic
+    four_d_pretraining_relaunch_omniworld_game_source: synthetic
+    four_d_pretraining_relaunch_synthverse_source: synthetic
+    four_d_pretraining_relaunch_vkitti_source: synthetic
+    four_d_pretraining_relaunch_tartanair_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_dynamic_replica_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_spring_stored_depth_source: synthetic
+    four_d_pretraining_relaunch_midair_within_200_meters_source: synthetic
+    four_d_pretraining_relaunch_mvs_synth_1000_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_tartanground_sky_then_far_percentile_source: synthetic
+    four_d_pretraining_relaunch_paralleldomain4d_sky_then_far_percentile_source: synthetic
+    scannet: real_video
+    dl3dv: real_video
+    wildrgbd: real_video
+    waymo: real_video
+    robotwin: robot
+    droid: robot
+    libero: robot
+    pointodyssey_train: tracks
+    kubric_train: tracks
+    molmo_motion: human_video

cosmos_nano_all_sources_hdepic_49frame_update_015000_20261108/attempt01/update_015000/syn4d_readback.json

@@ -0,0 +1,11 @@
+{
+  "blockers": [],
+  "failures": {},
+  "model_forward_or_training": false,
+  "sources_read": [
+    "four_d_pretraining_relaunch_syn4d_sources"
+  ],
+  "status": "passed",
+  "windows_yaml": "/scratch/shared/engs2907/logs/vgg_forecast_4d/train/cosmos_nano_49_frame_midtraining_all_sources_hdepic_without_cityscapes_from14700_20261107/attempt03/source_windows.yaml",
+  "windows_yaml_sha256": "6f4010e7495eafbbbd6a6c74db5433888f3307f8a7381ee863894eeed00bf87e"
+}