# SPDX-License-Identifier: Apache-2.0
# SPDX-FileCopyrightText: Copyright contributors to the vLLM project

"""CausalWanModel — 40-layer DiT with causal attention and KV cache.

Key differences from WanTransformer3DModel:
- Causal self-attention (new frames only see history)
- KV cache for streaming inference
- Action/state token support (appended after video tokens)
- Extended RoPE with action/state-specific frequencies
- Inference-only forward with KV cache
"""

from __future__ import annotations

import math
from typing import Any

import torch
import torch.nn as nn
from vllm.distributed import (
    get_tensor_model_parallel_rank,
    get_tensor_model_parallel_world_size,
    get_tp_group,
)
from vllm.model_executor.layers.conv import Conv3dLayer
from vllm.model_executor.layers.linear import (
    ColumnParallelLinear,
    RowParallelLinear,
)
from vllm.model_executor.utils import set_weight_attrs

from vllm_omni.diffusion.attention.layer import Attention
from vllm_omni.diffusion.models.dreamzero.action_encoder import (
    CategorySpecificMLP,
    MultiEmbodimentActionEncoder,
)

# ── RoPE utilities ──────────────────────────────────────────────────


def sinusoidal_embedding_1d(dim: int, position: torch.Tensor) -> torch.Tensor:
    """Sinusoidal positional embedding for timesteps."""
    if dim % 2 != 0:
        raise ValueError(f"dim must be even, got {dim}.")
    half = dim // 2
    position = position.type(torch.float64)
    sinusoid = torch.outer(
        position,
        torch.pow(10000, -torch.arange(half, dtype=position.dtype, device=position.device).div(half)),
    )
    x = torch.cat([torch.cos(sinusoid), torch.sin(sinusoid)], dim=1)
    return x


def rope_params(max_seq_len: int, dim: int) -> torch.Tensor:
    """Precompute complex-valued RoPE frequencies (polar form).
    Returns: complex tensor [max_seq_len, dim // 2]
    """
    if dim % 2 != 0:
        raise ValueError(f"dim must be even, got {dim}.")
    freqs = torch.outer(
        torch.arange(max_seq_len),
        1.0 / torch.pow(10000, torch.arange(0, dim, 2).to(torch.float64).div(dim)),
    )
    freqs = torch.polar(torch.ones_like(freqs), freqs)
    return freqs


def rope_apply(x: torch.Tensor, freqs: torch.Tensor) -> torch.Tensor:
    """Apply RoPE to x using precomputed complex freqs."""
    B, seq_len, n, _ = x.shape
    x = torch.view_as_complex(x.to(torch.float64).reshape(B, seq_len, n, -1, 2))
    freqs = freqs.unsqueeze(0)
    x = torch.view_as_real(x * freqs).flatten(3)
    return x


def rope_action_apply(
    x: torch.Tensor,
    freqs: torch.Tensor,
    freqs_action: torch.Tensor,
    freqs_state: torch.Tensor,
    action_register_length: int | None,
    num_action_per_block: int = 32,
    num_state_per_block: int = 1,
) -> torch.Tensor:
    """RoPE with action/state frequency tables for multi-step sequences."""
    B, seq_len, n, _ = x.shape
    x = torch.view_as_complex(x.to(torch.float64).reshape(B, seq_len, n, -1, 2))
    if action_register_length is not None:
        if num_action_per_block is None:
            raise ValueError("num_action_per_block is required when action_register_length is set.")
        if num_state_per_block is None:
            raise ValueError("num_state_per_block is required when action_register_length is set.")
        chunk_size = action_register_length // (num_action_per_block + num_state_per_block)
        freqs_1d_action = freqs_action[: chunk_size * num_action_per_block].view(
            chunk_size * num_action_per_block, 1, -1
        )
        freqs_1d_state = freqs_state[: chunk_size * num_state_per_block].view(chunk_size * num_state_per_block, 1, -1)
        freqs = torch.cat([freqs, freqs_1d_action, freqs_1d_state], dim=0)
    freqs = freqs.unsqueeze(0)
    x = torch.view_as_real(x * freqs).flatten(3)
    return x


def causal_rope_action_apply(
    x: torch.Tensor,
    freqs: torch.Tensor,
    freqs_action: torch.Tensor,
    freqs_state: torch.Tensor,
    action_register_length: int | None,
    num_action_per_block: int,
    num_state_per_block: int,
    action_state_index: int,
) -> torch.Tensor:
    """RoPE for single inference step (causal / KV-cache mode)."""
    B, seq_len, n, _ = x.shape
    x = torch.view_as_complex(x.to(torch.float64).reshape(B, seq_len, n, -1, 2))
    if action_register_length is not None:
        expected_length = num_action_per_block + num_state_per_block
        if action_register_length != expected_length:
            raise ValueError(
                f"action_register_length must equal num_action_per_block + num_state_per_block "
                f"({expected_length}), got {action_register_length}."
            )
        freqs_action = freqs_action[
            action_state_index * num_action_per_block : (action_state_index + 1) * num_action_per_block
        ]
        freqs_state = freqs_state[
            action_state_index * num_state_per_block : (action_state_index + 1) * num_state_per_block
        ]
        freqs_1d = torch.cat([freqs_action, freqs_state], dim=0).view(action_register_length, 1, -1)
        freqs = torch.cat([freqs, freqs_1d], dim=0)
    freqs = freqs.unsqueeze(0)
    x = torch.view_as_real(x * freqs).flatten(3)
    return x


# ── Normalization ───────────────────────────────────────────────────


class WanLayerNorm(nn.LayerNorm):
    """LayerNorm wrapper used by DreamZero blocks."""

    def __init__(self, dim: int, eps: float = 1e-6, elementwise_affine: bool = False) -> None:
        super().__init__(dim, eps=eps, elementwise_affine=elementwise_affine)


class DistributedRMSNorm(nn.Module):
    """RMSNorm that computes global RMS across tensor parallel ranks."""

    def __init__(self, hidden_size: int, eps: float = 1e-6):
        super().__init__()
        self.eps = eps
        self.weight = nn.Parameter(torch.ones(hidden_size))
        set_weight_attrs(self.weight, {"weight_loader": self.weight_loader})

    def weight_loader(self, param: torch.Tensor, loaded_weight: torch.Tensor) -> None:
        if param.shape == loaded_weight.shape:
            param.data.copy_(loaded_weight)
            return

        tp_size = get_tensor_model_parallel_world_size()
        if loaded_weight.shape[0] % tp_size != 0:
            raise ValueError(
                f"Cannot shard RMSNorm weight of shape {tuple(loaded_weight.shape)} across tp_size={tp_size}."
            )

        shard_size = loaded_weight.shape[0] // tp_size
        start_idx = get_tensor_model_parallel_rank() * shard_size
        shard = loaded_weight.narrow(0, start_idx, shard_size)
        if param.shape != shard.shape:
            raise ValueError(f"RMSNorm shard shape mismatch: param={tuple(param.shape)}, shard={tuple(shard.shape)}.")
        param.data.copy_(shard)

    def forward(self, x: torch.Tensor) -> torch.Tensor:
        tp_size = get_tensor_model_parallel_world_size()
        x_float = x.float()
        local_sum_sq = x_float.pow(2).sum(dim=-1, keepdim=True)
        local_count = x.shape[-1]

        if tp_size > 1:
            global_sum_sq = local_sum_sq.clone()
            torch.distributed.all_reduce(global_sum_sq, group=get_tp_group().device_group)
            global_count = local_count * tp_size
        else:
            global_sum_sq = local_sum_sq
            global_count = local_count

        mean_sq = global_sum_sq / global_count
        return (x_float * torch.rsqrt(mean_sq + self.eps)).type_as(x) * self.weight


# ── Projections ─────────────────────────────────────────────────────


class MLPProj(nn.Module):
    """CLIP feature projection for i2v.
    Uses ColumnParallelLinear + RowParallelLinear (Qwen3_VisionMLP pattern).
    """

    def __init__(self, in_dim: int, out_dim: int) -> None:
        super().__init__()
        self.norm1 = nn.LayerNorm(in_dim)
        self.fc1 = ColumnParallelLinear(
            in_dim,
            in_dim,
            bias=True,
            return_bias=False,
        )
        self.act = nn.GELU()
        self.fc2 = RowParallelLinear(
            in_dim,
            out_dim,
            bias=True,
            return_bias=False,
        )
        self.norm2 = nn.LayerNorm(out_dim)

    def forward(self, image_embeds: torch.Tensor) -> torch.Tensor:
        x = self.norm1(image_embeds)
        x = self.fc1(x)
        x = self.act(x)
        x = self.fc2(x)
        x = self.norm2(x)
        return x


# ── Cross-Attention ─────────────────────────────────────────────────
# T2V and I2V cross-attention variants


class WanT2VCrossAttention(nn.Module):
    """Text-to-video cross-attention.
    Uses vllm-omni Attention for FlashAttn backend.
    """

    def __init__(self, dim: int, num_heads: int, window_size=(-1, -1), qk_norm: bool = True, eps: float = 1e-6) -> None:
        super().__init__()
        if dim % num_heads != 0:
            raise ValueError(f"dim={dim} must be divisible by num_heads={num_heads}.")
        self.dim = dim
        self.num_heads = num_heads
        self.head_dim = dim // num_heads
        tp_size = get_tensor_model_parallel_world_size()
        if num_heads % tp_size != 0:
            raise ValueError(f"num_heads={num_heads} must be divisible by tp_size={tp_size}.")
        self.tp_num_heads = num_heads // tp_size
        self.tp_inner_dim = self.tp_num_heads * self.head_dim
        self.q = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.k = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.v = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.o = RowParallelLinear(dim, dim, bias=True, input_is_parallel=True, return_bias=False)
        self.norm_q = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.norm_k = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.attn = Attention(
            self.tp_num_heads,
            self.head_dim,
            causal=False,
            softmax_scale=self.head_dim**-0.5,
            skip_sequence_parallel=True,
        )

    def forward(
        self,
        x: torch.Tensor,
        context: torch.Tensor,
        context_lens: torch.Tensor | None = None,
        crossattn_cache: dict | None = None,
    ) -> torch.Tensor:
        del context_lens
        n, d = self.tp_num_heads, self.head_dim
        q = self.norm_q(self.q(x)).unflatten(2, (n, d))
        if crossattn_cache is not None:
            if not crossattn_cache["is_init"]:
                crossattn_cache["is_init"] = True
                k = self.norm_k(self.k(context)).unflatten(2, (n, d))
                v = self.v(context).unflatten(2, (n, d))
                crossattn_cache["k"] = k
                crossattn_cache["v"] = v
            else:
                k = crossattn_cache["k"]
                v = crossattn_cache["v"]
        else:
            k = self.norm_k(self.k(context)).unflatten(2, (n, d))
            v = self.v(context).unflatten(2, (n, d))
        x = self.attn(q, k, v)
        x = x.flatten(2)
        x = self.o(x)
        return x


class WanI2VCrossAttention(nn.Module):
    """Image-to-video cross-attention (splits first 257 image tokens).
    Uses vllm-omni Attention for FlashAttn backend.
    """

    def __init__(self, dim: int, num_heads: int, window_size=(-1, -1), qk_norm: bool = True, eps: float = 1e-6) -> None:
        super().__init__()
        if dim % num_heads != 0:
            raise ValueError(f"dim={dim} must be divisible by num_heads={num_heads}.")
        self.dim = dim
        self.num_heads = num_heads
        self.head_dim = dim // num_heads
        tp_size = get_tensor_model_parallel_world_size()
        if num_heads % tp_size != 0:
            raise ValueError(f"num_heads={num_heads} must be divisible by tp_size={tp_size}.")
        self.tp_num_heads = num_heads // tp_size
        self.tp_inner_dim = self.tp_num_heads * self.head_dim
        self.q = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.k = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.v = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.o = RowParallelLinear(dim, dim, bias=True, input_is_parallel=True, return_bias=False)
        self.norm_q = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.norm_k = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.k_img = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.v_img = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.norm_k_img = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.attn = Attention(
            self.tp_num_heads,
            self.head_dim,
            causal=False,
            softmax_scale=self.head_dim**-0.5,
            skip_sequence_parallel=True,
        )

    def forward(
        self,
        x: torch.Tensor,
        context: torch.Tensor,
        context_lens: torch.Tensor | None = None,
        crossattn_cache: dict | None = None,
    ) -> torch.Tensor:
        del context_lens
        context_img = context[:, :257]
        context = context[:, 257:]
        n, d = self.tp_num_heads, self.head_dim
        q = self.norm_q(self.q(x)).unflatten(2, (n, d))
        if crossattn_cache is not None:
            if not crossattn_cache["is_init"]:
                crossattn_cache["is_init"] = True
                k = self.norm_k(self.k(context)).unflatten(2, (n, d))
                v = self.v(context).unflatten(2, (n, d))
                crossattn_cache["k"] = k
                crossattn_cache["v"] = v
            else:
                k = crossattn_cache["k"]
                v = crossattn_cache["v"]
        else:
            k = self.norm_k(self.k(context)).unflatten(2, (n, d))
            v = self.v(context).unflatten(2, (n, d))
        x = self.attn(q, k, v)
        k_img = self.norm_k_img(self.k_img(context_img)).unflatten(2, (n, d))
        v_img = self.v_img(context_img).unflatten(2, (n, d))
        img_x = self.attn(q, k_img, v_img)
        x = x.flatten(2)
        img_x = img_x.flatten(2)
        x = x + img_x
        x = self.o(x)
        return x


WAN_CROSSATTENTION_CLASSES = {
    "t2v_cross_attn": WanT2VCrossAttention,
    "i2v_cross_attn": WanI2VCrossAttention,
}


# ── Self-Attention with causal masking + KV cache ───────────────────


class CausalWanSelfAttention(nn.Module):
    """Causal self-attention with KV cache + action/state tokens."""

    def __init__(
        self,
        dim: int,
        num_heads: int,
        frame_seqlen: int,
        local_attn_size: int = -1,
        sink_size: int = 0,
        num_frame_per_block: int = 1,
        qk_norm: bool = True,
        eps: float = 1e-6,
        num_action_per_block: int = 32,
        num_state_per_block: int = 1,
    ) -> None:
        super().__init__()
        if dim % num_heads != 0:
            raise ValueError(f"dim={dim} must be divisible by num_heads={num_heads}.")
        self.dim = dim
        self.num_heads = num_heads
        self.head_dim = dim // num_heads
        tp_size = get_tensor_model_parallel_world_size()
        if num_heads % tp_size != 0:
            raise ValueError(f"num_heads={num_heads} must be divisible by tp_size={tp_size}.")
        self.tp_num_heads = num_heads // tp_size
        self.tp_inner_dim = self.tp_num_heads * self.head_dim
        self.local_attn_size = local_attn_size
        self.num_frame_per_block = num_frame_per_block
        self.frame_seqlen = frame_seqlen
        self.num_action_per_block = num_action_per_block
        self.num_state_per_block = num_state_per_block
        self.max_attention_size = 21 * frame_seqlen if local_attn_size == -1 else local_attn_size * frame_seqlen
        self.q = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.k = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.v = ColumnParallelLinear(dim, dim, bias=True, gather_output=False, return_bias=False)
        self.o = RowParallelLinear(dim, dim, bias=True, input_is_parallel=True, return_bias=False)
        self.norm_q = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.norm_k = DistributedRMSNorm(self.tp_inner_dim, eps=eps) if qk_norm else nn.Identity()
        self.attn = Attention(
            self.tp_num_heads,
            self.head_dim,
            causal=False,
            softmax_scale=self.head_dim**-0.5,
            skip_sequence_parallel=True,
        )

    def forward(
        self,
        x: torch.Tensor,
        freqs: torch.Tensor,
        freqs_action: torch.Tensor,
        freqs_state: torch.Tensor,
        action_register_length: int | None,
        kv_cache: torch.Tensor | None = None,
        current_start_frame: int = 0,
        is_tf: bool = True,
    ) -> tuple[torch.Tensor, torch.Tensor | None]:
        """Inference-only forward (KV cache path)."""
        n, d = self.tp_num_heads, self.head_dim

        q = self.norm_q(self.q(x)).unflatten(2, (n, d))
        k = self.norm_k(self.k(x)).unflatten(2, (n, d))
        v = self.v(x).unflatten(2, (n, d))

        updated_kv_cache: torch.Tensor | None = None

        if kv_cache is None:
            raise RuntimeError("Inference only: kv_cache is required.")

        action_state_index = max(0, (current_start_frame - 1) // self.num_frame_per_block)

        roped_query = causal_rope_action_apply(
            q,
            freqs,
            freqs_action,
            freqs_state,
            action_register_length,
            self.num_action_per_block,
            self.num_state_per_block,
            action_state_index,
        ).type_as(v)
        roped_key = causal_rope_action_apply(
            k,
            freqs,
            freqs_action,
            freqs_state,
            action_register_length,
            self.num_action_per_block,
            self.num_state_per_block,
            action_state_index,
        ).type_as(v)

        roped_action_query = None
        roped_action_key = None
        action_v = None

        if action_register_length is not None:
            roped_action_query = roped_query[:, -action_register_length:]
            roped_query = roped_query[:, :-action_register_length]
            roped_action_key = roped_key[:, -action_register_length:]
            roped_key = roped_key[:, :-action_register_length]
            action_v = v[:, -action_register_length:]
            v = v[:, :-action_register_length]

        updated_k = kv_cache[0]
        updated_v = kv_cache[1]
        new_k = torch.cat([updated_k, roped_key], dim=1)
        new_v = torch.cat([updated_v, v], dim=1)
        new_k = new_k[:, -self.max_attention_size :]
        new_v = new_v[:, -self.max_attention_size :]

        if action_register_length is not None:
            q_cat = torch.cat([roped_query, roped_action_query], dim=1)
            k_cat = torch.cat([new_k, roped_action_key], dim=1)
            v_cat = torch.cat([new_v, action_v], dim=1)
        else:
            q_cat = roped_query
            k_cat = new_k
            v_cat = new_v

        x = self.attn(q_cat, k_cat, v_cat)
        updated_kv_cache = torch.stack([new_k, new_v], dim=0)

        x = x.flatten(2)
        x = self.o(x)
        return x, updated_kv_cache


# ── Attention Block ─────────────────────────────────────────────────


class CausalWanAttentionBlock(nn.Module):
    """Transformer block: self-attn + cross-attn + FFN with 6-param modulation."""

    def __init__(
        self,
        cross_attn_type: str,
        dim: int,
        ffn_dim: int,
        num_heads: int,
        frame_seqlen: int,
        local_attn_size: int = -1,
        sink_size: int = 0,
        num_frame_per_block: int = 1,
        qk_norm: bool = True,
        cross_attn_norm: bool = False,
        eps: float = 1e-6,
        num_action_per_block: int = 32,
        num_state_per_block: int = 1,
    ) -> None:
        super().__init__()
        self.norm1 = WanLayerNorm(dim, eps)
        self.self_attn = CausalWanSelfAttention(
            dim=dim,
            num_heads=num_heads,
            frame_seqlen=frame_seqlen,
            local_attn_size=local_attn_size,
            sink_size=sink_size,
            num_frame_per_block=num_frame_per_block,
            qk_norm=qk_norm,
            eps=eps,
            num_action_per_block=num_action_per_block,
            num_state_per_block=num_state_per_block,
        )
        self.norm3 = WanLayerNorm(dim, eps, elementwise_affine=True) if cross_attn_norm else nn.Identity()
        self.cross_attn = WAN_CROSSATTENTION_CLASSES[cross_attn_type](dim, num_heads, (-1, -1), qk_norm, eps)
        self.norm2 = WanLayerNorm(dim, eps)
        self.ffn = nn.Sequential(
            ColumnParallelLinear(dim, ffn_dim, bias=True, gather_output=False, return_bias=False),
            nn.GELU(approximate="tanh"),
            RowParallelLinear(ffn_dim, dim, bias=True, input_is_parallel=True, return_bias=False),
        )
        self.modulation = nn.Parameter(torch.randn(1, 6, dim) / dim**0.5)

    def forward(
        self,
        x: torch.Tensor,
        e: torch.Tensor,
        freqs: torch.Tensor,
        freqs_action: torch.Tensor,
        freqs_state: torch.Tensor,
        context: torch.Tensor,
        action_register_length: int | None = None,
        kv_cache: torch.Tensor | None = None,
        crossattn_cache: dict | None = None,
        current_start_frame: int = 0,
        is_tf: bool = True,
    ) -> tuple[torch.Tensor, torch.Tensor | None]:
        e = (self.modulation.unsqueeze(1) + e).chunk(6, dim=2)

        y, updated_kv_cache = self.self_attn(
            x=(self.norm1(x) * (1 + e[1].squeeze(2)) + e[0].squeeze(2)),
            freqs=freqs,
            freqs_action=freqs_action,
            freqs_state=freqs_state,
            action_register_length=action_register_length,
            kv_cache=kv_cache,
            is_tf=is_tf,
            current_start_frame=current_start_frame,
        )
        x = x + (y * e[2].squeeze(2))

        x = x + self.cross_attn(self.norm3(x), context, crossattn_cache=crossattn_cache)
        y = self.ffn(self.norm2(x) * (1 + e[4].squeeze(2)) + e[3].squeeze(2))
        x = x + (y * e[5].squeeze(2))
        return x, updated_kv_cache


# ── Output Head ─────────────────────────────────────────────────────


class CausalHead(nn.Module):
    """Output norm + linear with 2-param modulation.
    Runs once per step (not TP-critical), uses nn.Linear.
    """

    def __init__(self, dim: int, out_dim: int, patch_size: tuple, eps: float = 1e-6) -> None:
        super().__init__()
        self.dim = dim
        self.out_dim = out_dim
        self.patch_size = patch_size
        out_channels = math.prod(patch_size) * out_dim
        self.norm = WanLayerNorm(dim, eps)
        self.head = nn.Linear(dim, out_channels)
        self.modulation = nn.Parameter(torch.randn(1, 2, dim) / dim**0.5)

    def forward(self, x: torch.Tensor, e: torch.Tensor) -> torch.Tensor:
        """
        Args:
            x: [B, L1, C]
            e: [B, F, 1, C]     (time embedding, unsqueezed)
        """
        e = (self.modulation.unsqueeze(1) + e).chunk(2, dim=2)
        x = self.head(self.norm(x) * (1 + e[1].squeeze(2)) + e[0].squeeze(2))
        return x


# ── Main Model ──────────────────────────────────────────────────────


class CausalWanModel(nn.Module):
    """Causal video diffusion transformer for DreamZero.

    Architecture (14B): 40 layers, dim=5120, heads=40, ffn=13824
    """

    def __init__(
        self,
        model_type: str = "t2v",
        patch_size: tuple[int, int, int] = (1, 2, 2),
        frame_seqlen: int = 220,
        text_len: int = 512,
        in_dim: int = 16,
        dim: int = 2048,
        ffn_dim: int = 8192,
        freq_dim: int = 256,
        text_dim: int = 4096,
        out_dim: int = 16,
        num_heads: int = 16,
        num_layers: int = 32,
        max_chunk_size: int = -1,
        sink_size: int = 0,
        qk_norm: bool = True,
        cross_attn_norm: bool = True,
        eps: float = 1e-6,
        num_frame_per_block: int = 1,
        action_dim: int = 32,
        num_registers: int = 8,
        max_state_dim: int = 64,
        max_num_embodiments: int = 32,
        hidden_size: int = 1024,
        diffusion_model_pretrained_path: str | None = None,
        num_action_per_block: int = 32,
        num_state_per_block: int = 1,
    ) -> None:
        super().__init__()
        if model_type not in ["t2v", "i2v", "ti2v"]:
            raise ValueError(f"Unsupported model_type={model_type!r}; expected one of ['t2v', 'i2v', 'ti2v'].")
        self.model_type = model_type
        self.patch_size = patch_size
        self.frame_seqlen = frame_seqlen
        self.text_len = text_len
        self.dim = dim
        self.freq_dim = freq_dim
        self.out_dim = out_dim
        self.num_heads = num_heads
        self.num_layers = num_layers
        self.local_attn_size = max_chunk_size * num_frame_per_block + 1 if max_chunk_size != -1 else -1
        self.num_frame_per_block = num_frame_per_block
        self.action_dim = action_dim
        self.num_action_per_block = num_action_per_block
        self.num_state_per_block = num_state_per_block

        max_num_embodiments_local = 1
        self.state_encoder = CategorySpecificMLP(
            num_categories=max_num_embodiments_local,
            input_dim=max_state_dim,
            hidden_dim=hidden_size,
            output_dim=dim,
        )
        self.action_encoder = MultiEmbodimentActionEncoder(
            action_dim=action_dim,
            hidden_size=dim,
            num_embodiments=max_num_embodiments_local,
        )
        self.action_decoder = CategorySpecificMLP(
            num_categories=max_num_embodiments_local,
            input_dim=dim,
            hidden_dim=hidden_size,
            output_dim=action_dim,
        )

        # Disable the Conv3d GEMM rewrite for patch embedding.
        self.patch_embedding = Conv3dLayer(
            in_dim,
            dim,
            kernel_size=patch_size,
            stride=patch_size,
        )
        self.patch_embedding.enable_linear = False
        self.text_embedding = nn.Sequential(
            nn.Linear(text_dim, dim),
            nn.GELU(approximate="tanh"),
            nn.Linear(dim, dim),
        )
        self.time_embedding = nn.Sequential(
            nn.Linear(freq_dim, dim),
            nn.SiLU(),
            nn.Linear(dim, dim),
        )
        self.time_projection = nn.Sequential(
            nn.SiLU(),
            nn.Linear(dim, dim * 6),
        )

        cross_attn_type = "t2v_cross_attn" if model_type == "t2v" else "i2v_cross_attn"
        self.blocks = nn.ModuleList(
            [
                CausalWanAttentionBlock(
                    cross_attn_type,
                    dim,
                    ffn_dim,
                    num_heads,
                    frame_seqlen,
                    self.local_attn_size,
                    sink_size,
                    num_frame_per_block,
                    qk_norm,
                    cross_attn_norm,
                    eps,
                    num_action_per_block,
                    num_state_per_block,
                )
                for _ in range(num_layers)
            ]
        )

        self.head = CausalHead(dim, out_dim, patch_size, eps)

        if dim % num_heads != 0:
            raise ValueError(f"dim={dim} must be divisible by num_heads={num_heads}.")
        if (dim // num_heads) % 2 != 0:
            raise ValueError(f"dim // num_heads must be even, got {dim // num_heads}.")
        d = dim // num_heads
        self.freqs_action = rope_params(1024 * 10, d)
        self.freqs_state = rope_params(1024, d)
        self.freqs = [
            rope_params(1024, d - 4 * (d // 6)),
            rope_params(1024, 2 * (d // 6)),
            rope_params(1024, 2 * (d // 6)),
        ]

        if model_type == "i2v":
            self.img_emb = MLPProj(1280, dim)

        self.init_weights()

    def init_weights(self) -> None:
        """Initialize parameters."""

        def _init_linear_like(module: nn.Module) -> None:
            if isinstance(module, nn.Linear):
                nn.init.xavier_uniform_(module.weight)
                if module.bias is not None:
                    nn.init.zeros_(module.bias)
                return

            if isinstance(module, (ColumnParallelLinear, RowParallelLinear)):
                fan_in = module.input_size
                fan_out = module.output_size
                bound = math.sqrt(6.0 / float(fan_in + fan_out))
                nn.init.uniform_(module.weight, -bound, bound)
                if module.bias is not None:
                    nn.init.zeros_(module.bias)

        for module in self.modules():
            _init_linear_like(module)

        nn.init.xavier_uniform_(self.patch_embedding.weight.flatten(1))
        if self.patch_embedding.bias is not None:
            fan_in = self.patch_embedding.in_channels * math.prod(self.patch_embedding.kernel_size)
            bound = 1 / math.sqrt(fan_in)
            nn.init.uniform_(self.patch_embedding.bias, -bound, bound)

        for module in self.text_embedding.modules():
            if isinstance(module, nn.Linear):
                nn.init.normal_(module.weight, std=0.02)

        for module in self.time_embedding.modules():
            if isinstance(module, nn.Linear):
                nn.init.normal_(module.weight, std=0.02)

        nn.init.zeros_(self.head.head.weight)

    def _create_freqs(self, grid_size: torch.Tensor, start_frame: int) -> torch.Tensor:
        """Create 3D RoPE frequency tensor."""
        device = self.patch_embedding.weight.device
        if any(freq.device != device for freq in self.freqs):
            self.freqs = [freq.to(device) for freq in self.freqs]
        if self.freqs_action.device != device:
            self.freqs_action = self.freqs_action.to(device)
        if self.freqs_state.device != device:
            self.freqs_state = self.freqs_state.to(device)

        f, h, w = grid_size.tolist()
        freqs = torch.cat(
            [
                self.freqs[0][start_frame : start_frame + f].view(f, 1, 1, -1).expand(f, h, w, -1),
                self.freqs[1][:h].view(1, h, 1, -1).expand(f, h, w, -1),
                self.freqs[2][:w].view(1, 1, w, -1).expand(f, h, w, -1),
            ],
            dim=-1,
        ).reshape(f * h * w, 1, -1)
        return freqs

    def unpatchify(self, x: torch.Tensor, grid_size: torch.Tensor) -> torch.Tensor:
        """Reconstruct video from patch embeddings."""
        B = x.shape[0]
        c = self.out_dim
        grid_size = grid_size.tolist()
        expected_seq_len = math.prod(grid_size)
        if x.shape[1] != expected_seq_len:
            raise ValueError(f"x sequence length must equal product(grid_size)={expected_seq_len}, got {x.shape[1]}.")
        x = x.view(B, *grid_size, *self.patch_size, c)
        x = torch.einsum("bfhwpqrc->bcfphqwr", x)
        x = x.reshape(B, c, *[i * j for i, j in zip(grid_size, self.patch_size)])
        return x

    def _forward_blocks(
        self,
        x: torch.Tensor,
        seq_len: int,
        freqs: torch.Tensor,
        timestep: torch.Tensor,
        context: torch.Tensor,
        clip_feature: torch.Tensor | None,
        embodiment_id: torch.Tensor | None,
        action: torch.Tensor | None,
        timestep_action: torch.Tensor | None,
        state: torch.Tensor | None,
        kv_cache: list[torch.Tensor],
        current_start_frame: int,
    ) -> tuple[torch.Tensor, torch.Tensor | None, list[torch.Tensor]]:
        x = x.flatten(start_dim=2).transpose(1, 2)
        B = x.shape[0]
        F_t = timestep.shape[1]

        if action is not None:
            # Current DreamZero checkpoints have one local action/state adapter.
            # Global embodiment IDs are used by transforms and normalization.
            adapter_category_id = torch.zeros(B, dtype=torch.long, device=x.device)
            action_features = self.action_encoder(action, timestep_action, adapter_category_id)
            state_features = self.state_encoder(state, adapter_category_id)
            action_register = torch.cat([action_features, state_features], dim=1)
            action_length = action_features.shape[1]
            action_register_length = action_register.shape[1]
            x = torch.cat([x, action_register], dim=1)
        else:
            action_length = 0
            action_register_length = None

        timestep = timestep.unsqueeze(-1).expand(B, F_t, seq_len // F_t).reshape(B, -1)
        if action is not None:
            if timestep_action is None or state is None:
                raise RuntimeError("timestep_action and state are required when action is provided.")
            state_features_t = self.state_encoder(state, adapter_category_id)
            stride = timestep_action.shape[1] // state_features_t.shape[1]
            timestep_state = timestep_action[:, ::stride]
            timestep = torch.cat([timestep, timestep_action, timestep_state], dim=1)

        e = self.time_embedding(sinusoidal_embedding_1d(self.freq_dim, timestep.flatten()).type_as(x))
        e = e.unflatten(dim=0, sizes=(B, -1))
        e0 = self.time_projection(e)
        e0 = e0.unflatten(dim=2, sizes=(6, self.dim))

        context = self.text_embedding(context)
        if clip_feature is not None:
            clip_embedding = self.img_emb(clip_feature)
            context = torch.cat([clip_embedding, context], dim=1)

        updated_kv_caches: list[torch.Tensor] = []
        for block_index, block in enumerate(self.blocks):
            x, updated_kv_cache = block(
                x=x,
                e=e0,
                freqs=freqs,
                freqs_action=self.freqs_action,
                freqs_state=self.freqs_state,
                context=context,
                action_register_length=action_register_length,
                kv_cache=kv_cache[block_index] if kv_cache else None,
                current_start_frame=current_start_frame,
            )
            updated_kv_caches.append(updated_kv_cache)

        if action is not None:
            action_noise_pred = x[:, seq_len : seq_len + action_length]
            action_noise_pred = self.action_decoder(action_noise_pred, adapter_category_id)
        else:
            action_noise_pred = None

        x_video = x[:, :seq_len]
        e_video = e[:, :seq_len]
        x_video = self.head(x_video, e_video.unsqueeze(2))

        return x_video, action_noise_pred, updated_kv_caches

    def _forward_inference(
        self,
        x: torch.Tensor,
        timestep: torch.Tensor,
        context: torch.Tensor,
        seq_len: int,
        kv_cache: list[torch.Tensor],
        crossattn_cache: list[torch.Tensor],
        current_start_frame: int,
        y: torch.Tensor | None = None,
        clip_feature: torch.Tensor | None = None,
        action: torch.Tensor | None = None,
        timestep_action: torch.Tensor | None = None,
        state: torch.Tensor | None = None,
        embodiment_id: torch.Tensor | None = None,
    ) -> tuple[torch.Tensor, torch.Tensor | None, list[torch.Tensor]]:
        if self.model_type == "i2v":
            if clip_feature is None or y is None:
                raise RuntimeError("clip_feature and y are required for i2v inference.")
        if context.shape[1] != self.text_len:
            raise ValueError(f"context length must be {self.text_len}, got {context.shape[1]}.")

        if y is not None:
            x = torch.cat([x, y.to(dtype=x.dtype)], dim=1)

        x = self.patch_embedding(x)
        grid_size = torch.tensor(x.shape[2:], dtype=torch.long)
        freqs = self._create_freqs(grid_size, current_start_frame)

        x_video, action_noise_pred, updated_kv_caches = self._forward_blocks(
            x=x,
            seq_len=seq_len,
            freqs=freqs,
            timestep=timestep,
            context=context,
            clip_feature=clip_feature,
            embodiment_id=embodiment_id,
            action=action,
            timestep_action=timestep_action,
            state=state,
            kv_cache=kv_cache,
            current_start_frame=current_start_frame,
        )

        x_video = x_video.clone()
        if action_noise_pred is not None:
            action_noise_pred = action_noise_pred.clone()

        video_noise_pred = self.unpatchify(x_video, grid_size)
        return video_noise_pred, action_noise_pred, updated_kv_caches

    def forward(self, *args: Any, **kwargs: Any):
        """Inference only. Requires kv_cache."""
        return self._forward_inference(*args, **kwargs)