The victims were sleeping on the road near Banke Baba Mandir to guard another truck loaded with powder.
This morning, the killer peas-laden truck overturned while crossing the area, leaving them dead on the spot, police said.
The deceased were identified as Barelal Rathore, Satish, Ramniwas Jadoun and his brother Ramnaresh Jadoun, they said.
Police removed the truck with the help of a crane and recovered their bodies which were later sent for autopsy.
The driver and co-driver of the truck escaped from the spot after the incident, police said, adding a case has been registered in this regard.
