Add immutable checkpoint backup cosmos3_nano_stage_one_lora_r256_full19_21frame_ddp_from7300_step_007320_20261105 source_data_configuration

cosmos3_nano_stage_one_lora_r256_full19_21frame_ddp_from7300_20261105/attempt01/update_007320/source_windows.yaml

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+# Next Cosmos stage-one version: the owner's weighted mixture at 21 frames (decision 2026-11-05).
+#
+# Weights, not shares. Total 129 over 19 sources:
+#   synthetic   79  (61.2%)  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  18  (14.0%)  ScanNet 8, DL3DV 6, WildRGB-D 4 (depth, camera and DINO as inputs only)
+#   robot       26  (20.2%)  RoboTwin 10 (clean-train episodes only), DROID 10 (depth, camera, DINO as inputs only),
+#                            LIBERO 6 (official training demonstrations only); no action stream in stage one
+#   tracks       6  ( 4.7%)  PointOdyssey 3, Kubric 3
+# 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 21 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 three commits (9cb6a626a, branch mot/libero-robot-window-length-configurable-20261105).
+# 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.
+vgg_repository: /scratch/shared/engs2907/vgg_pins/vgg_forecast_4d_cosmos_pinned_source_20261105
+vgg_commit: 9cb6a626a6841f60c24f84f16f5aacf389329981
+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
+    condition_only_streams:
+    - pointmap
+    - camera
+    - dino
+  - 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
+    condition_only_streams:
+    - pointmap
+    - camera
+    - dino
+  - 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
+    condition_only_streams:
+    - pointmap
+    - camera
+    - dino
+  - 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
+    condition_only_streams:
+    - pointmap
+    - camera
+    - dino
+  - 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
+    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
+    condition_only_streams:
+    - pointmap
+  frames: 21
+  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
+  pointmap_gauge: window_labelled_median_depth
+  geometry_image: genception_log_depth
+  context_len: 512
+  batch_size: 8
+  stream_seed: 42
+  epoch_windows: 32000000
+  val_set_proportion: 0.0
+  resume_state: null
+  gradient_accumulation_steps: 2
+  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
+    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
+  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
+    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:
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+robot_sources:
+- name: robotwin
+  weight: 10.0
+  frames: 21
+  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, 2026-11-05.
+  readback_receipt: 
+    path: /scratch/shared/engs2907/logs/vgg_forecast_4d/tools/cosmos_next_version_source_readback_20261105/attempt23/robot_sources/robotwin_readback.json
+    sha256: defa44e5ddf40a98629006460a488f892c1d29111edc49b4d88b4afe3a1859c8
+- name: libero
+  weight: 6.0
+  frames: 21
+  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_next_version_source_readback_20261105/attempt23/robot_sources/libero_readback.json
+    sha256: 2b1be6db3355fd70e3fd6d904363f536522251f9a1d4e82b210bc5664562625a
+launch_blockers: {}
+mixture_policy:
+  total_weight: 129.0
+  group_weights: {synthetic: 79.0, real_video: 18.0, robot: 26.0, tracks: 6.0}
+  group_share_percent: {synthetic: 61.2, real_video: 14.0, robot: 20.2, tracks: 4.7}
+  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
+    robotwin: robot
+    droid: robot
+    libero: robot
+    pointodyssey_train: tracks
+    kubric_train: tracks