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.gitattributes

@@ -33,3 +33,20 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+paper.pdf filter=lfs diff=lfs merge=lfs -text
+tensorrt/muninn_bouncingballs_v1_fp16.trt filter=lfs diff=lfs merge=lfs -text
+tensorrt/muninn_bouncingballs_v1_fp32.trt filter=lfs diff=lfs merge=lfs -text
+tensorrt/muninn_hellwarrior_v1_fp16.trt filter=lfs diff=lfs merge=lfs -text
+tensorrt/muninn_hellwarrior_v1_fp32.trt filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -0,0 +1,97 @@
+---
+tags:
+  - robotics
+  - anima
+  - muninn
+  - gaussian-splatting
+  - 4dgs
+  - dynamic-scenes
+  - robot-flow-labs
+library_name: pytorch
+pipeline_tag: robotics
+license: apache-2.0
+---
+
+# MUNINN (SD-GS) — ANIMA Wave-6 Module
+
+Part of the [ANIMA Perception Suite](https://github.com/RobotFlow-Labs) by Robot Flow Labs.
+
+## Paper
+
+**SD-GS: Structured Deformable 3D Gaussians for Efficient Dynamic Scene Reconstruction**
+Wei Yao, Shuzhao Xie, Letian Li, Weixiang Zhang, Zhixin Lai, Shiqi Dai, Ke Zhang, Zhi Wang
+[arXiv:2507.07465](https://arxiv.org/abs/2507.07465) (Jul 2025)
+
+## Architecture
+
+MUNINN implements a **hierarchical deformable anchor grid** for 4D Gaussian Splatting:
+
+- **Deformable Anchor Grid**: 48x48x48 grid (110,592 anchors, 442,368 Gaussians) covering the scene bounding box
+- **Spatiotemporal Deformation Field**: MLP predicting per-anchor position/scale/rotation/opacity offsets per frame
+- **Anchor-to-Gaussian Derivation**: Each anchor generates 4 local Gaussians via learned offsets
+- **CUDA Rasterization**: diff-gaussian-rasterization kernel for real-time rendering
+
+Key results: 60% model size reduction, 100% FPS improvement over dense 4DGS, maintained visual quality.
+
+## D-NeRF Benchmark Results
+
+| Scene | val_loss | Format Sizes |
+|-------|----------|-------------|
+| bouncingballs | 0.449 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| trex | 0.459 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| hook | 0.469 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| mutant | 0.470 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| lego | 0.471 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| jumpingjacks | 0.475 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| standup | 0.475 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+| hellwarrior | 0.487 | pth: 40MB, ONNX: 7.7MB, TRT: 7.7MB |
+
+## Exported Formats (per scene)
+
+| Format | File Pattern | Use Case |
+|--------|-------------|----------|
+| PyTorch (.pth) | `pytorch/muninn_{scene}_v1.pth` | Training, fine-tuning |
+| SafeTensors | `pytorch/muninn_{scene}_v1.safetensors` | Fast loading, safe |
+| ONNX | `onnx/muninn_{scene}_v1.onnx` | Cross-platform inference |
+| TensorRT FP16 | `tensorrt/muninn_{scene}_v1_fp16.trt` | Edge deployment (Jetson/L4) |
+| TensorRT FP32 | `tensorrt/muninn_{scene}_v1_fp32.trt` | Full precision inference |
+
+## Usage
+
+```python
+import torch
+from anima_muninn.core.model import MuninModel
+
+# Load from SafeTensors
+from safetensors.torch import load_file
+state = load_file("pytorch/muninn_hellwarrior_v1.safetensors")
+model = MuninModel(bbox=(...), grid_size=48, ...)
+model.load_state_dict(state)
+model.eval()
+
+# Render a frame
+output = model(poses, intrinsics, times)
+rendered_image = output["rendered"]  # (B, 3, 800, 800)
+```
+
+## Training
+
+- **Hardware**: 5x NVIDIA L4 (23GB each)
+- **Framework**: PyTorch 2.5.1 + CUDA 12.1
+- **Grid**: 48x48x48 anchors, 4 Gaussians per anchor
+- **Batch size**: 36 (71% VRAM)
+- **Optimizer**: Adam (lr=0.0016, gamma=0.95)
+- **Early stopping**: patience=200 epochs
+- **Config**: See `configs/dnerf.toml`
+
+## ANIMA Stack Position
+
+- **Tier**: 2 (Perception)
+- **Wave**: 6
+- **Upstream**: THOR (poses), FREYA (point clouds)
+- **Downstream**: SURT (occupancy), MAGNI (temporal coherence)
+- **Sibling**: HUGINN (complementary 4DGS compression)
+
+## License
+
+Apache 2.0 -- Robot Flow Labs / AIFLOW LABS LIMITED

checkpoints/best_bouncingballs.pth

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checkpoints/best_hellwarrior.pth

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checkpoints/best_mutant.pth

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configs/default.toml

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+checkpoint_dir = "/mnt/artifacts-datai/checkpoints/project_muninn"
+device = "cuda"
+seed = 42
+
+[model]
+grid_size = 16
+hierarchy_levels = 3
+gaussians_per_anchor = 4
+anchor_feat_dim = 32
+deform_hidden_dim = 128
+
+[training]
+batch_size = 1
+learning_rate = 0.0016
+num_epochs = 200
+densify_every = 1000
+opacity_reset_interval = 3000
+warmup_steps = 1000
+lr_decay = 0.95
+lr_decay_every = 5000
+gradient_clip = 1.0
+
+[losses]
+l1_weight = 1.0
+ssim_weight = 0.2
+entropy_weight = 0.001
+lpips_weight = 0.0
+
+[data]
+dataset_root = "/mnt/forge-data/datasets/dnerf/data"
+dataset_name = "d_nerf"
+scene_name = "hellwarrior"
+split = "train"
+num_workers = 4

configs/dnerf.toml

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+checkpoint_dir = "/mnt/artifacts-datai/checkpoints/project_muninn"
+device = "cuda"
+seed = 42
+
+[model]
+grid_size = 48
+hierarchy_levels = 3
+gaussians_per_anchor = 4
+anchor_feat_dim = 32
+deform_hidden_dim = 128
+
+[training]
+batch_size = 36
+learning_rate = 0.0016
+num_epochs = 1400
+densify_every = 999999
+opacity_reset_interval = 999999
+warmup_steps = 1000
+lr_decay = 0.95
+lr_decay_every = 5000
+gradient_clip = 1.0
+
+[losses]
+l1_weight = 1.0
+ssim_weight = 0.2
+entropy_weight = 0.001
+lpips_weight = 0.0
+
+[data]
+dataset_root = "/mnt/forge-data/datasets/dnerf/data"
+dataset_name = "d_nerf"
+scene_name = "hellwarrior"
+split = "train"
+num_workers = 4

configs/hypernerf.toml

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+checkpoint_dir = "/mnt/artifacts-datai/checkpoints/project_muninn"
+device = "cuda"
+seed = 42
+
+[model]
+grid_size = 16
+hierarchy_levels = 3
+gaussians_per_anchor = 4
+anchor_feat_dim = 32
+deform_hidden_dim = 128
+
+[training]
+batch_size = 1
+learning_rate = 0.001
+num_epochs = 300
+densify_every = 1500
+opacity_reset_interval = 5000
+warmup_steps = 2000
+lr_decay = 0.95
+lr_decay_every = 5000
+gradient_clip = 1.0
+
+[losses]
+l1_weight = 1.0
+ssim_weight = 0.2
+entropy_weight = 0.001
+lpips_weight = 0.0
+
+[data]
+dataset_root = "/mnt/forge-data/datasets"
+# NOTE: HyperNeRF dataset is MISSING (CDN-blocked). Test with D-NeRF instead.
+dataset_name = "hypernerf"
+scene_name = "interp_cut_lemon"
+split = "train"
+num_workers = 4

export_results.json

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+{
+  "bouncingballs": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0013_val0.4489.pth",
+    "val_loss": 0.4489
+  },
+  "hellwarrior": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0030_val0.4871.pth",
+    "val_loss": 0.4871
+  },
+  "hook": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0023_val0.4685.pth",
+    "val_loss": 0.4685
+  },
+  "jumpingjacks": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0117_val0.4746.pth",
+    "val_loss": 0.4746
+  },
+  "lego": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0043_val0.4713.pth",
+    "val_loss": 0.4713
+  },
+  "mutant": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0012_val0.4699.pth",
+    "val_loss": 0.4699
+  },
+  "standup": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0049_val0.4752.pth",
+    "val_loss": 0.4752
+  },
+  "trex": {
+    "checkpoint": "project_muninn_cuda_v1_epoch0011_val0.4586.pth",
+    "val_loss": 0.4586
+  }
+}

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