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experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu4_80_81_82_83_84_85_86_87_88_89_90_91_92_93_94_95_96_97_98_99/rollout/provenance_mtu3d_baseline_467172.json

@@ -0,0 +1,205 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "mtu3d_baseline",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": false,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": false,
+    "adapter_used": false,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": null,
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": null,
+    "v183_runtime_acceptance": null,
+    "v166_deployment_residual_policy": null,
+    "adapter_report": null,
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": null,
+    "v183_mechanism_report": null,
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "none",
+    "point_source_mode": "none",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": null,
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
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+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": null,
+      "adapter_report": null,
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "mtu3d_baseline",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "none",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "none",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 0,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu4_80_81_82_83_84_85_86_87_88_89_90_91_92_93_94_95_96_97_98_99/rollout/requests/mtu3d_baseline_467172/mtu3d_baseline.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu5_180_181_182_183_184_185_186_187_188_189_190_191_192_193_194_195_196_197_198_199/rollout/provenance_mtu3d_baseline_2601943.json

@@ -0,0 +1,205 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "mtu3d_baseline",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": false,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": false,
+    "adapter_used": false,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": null,
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": null,
+    "v183_runtime_acceptance": null,
+    "v166_deployment_residual_policy": null,
+    "adapter_report": null,
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": null,
+    "v183_mechanism_report": null,
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "none",
+    "point_source_mode": "none",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": null,
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": null,
+      "adapter_report": null,
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "mtu3d_baseline",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "none",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "none",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 0,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu5_180_181_182_183_184_185_186_187_188_189_190_191_192_193_194_195_196_197_198_199/rollout/requests/mtu3d_baseline_2601943/mtu3d_baseline.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu6_120_121_122_123_124_125_126_127_128_129_130_131_132_133_134_135_136_137_138_139/rollout/provenance_mtu3d_baseline_2601933.json

@@ -0,0 +1,205 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "mtu3d_baseline",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": false,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": false,
+    "adapter_used": false,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": null,
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": null,
+    "v183_runtime_acceptance": null,
+    "v166_deployment_residual_policy": null,
+    "adapter_report": null,
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": null,
+    "v183_mechanism_report": null,
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "none",
+    "point_source_mode": "none",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": null,
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": null,
+      "adapter_report": null,
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "mtu3d_baseline",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "none",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "none",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 0,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu6_120_121_122_123_124_125_126_127_128_129_130_131_132_133_134_135_136_137_138_139/rollout/requests/mtu3d_baseline_2601933/mtu3d_baseline.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu6_40_41_42_43_44_45_46_47_48_49_50_51_52_53_54_55_56_57_58_59/rollout/provenance_mtu3d_baseline_3532758.json

@@ -0,0 +1,205 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "mtu3d_baseline",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": false,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": false,
+    "adapter_used": false,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": null,
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": null,
+    "v183_runtime_acceptance": null,
+    "v166_deployment_residual_policy": null,
+    "adapter_report": null,
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": null,
+    "v183_mechanism_report": null,
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "none",
+    "point_source_mode": "none",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": null,
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": null,
+      "adapter_report": null,
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "mtu3d_baseline",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "none",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "none",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 0,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu6_40_41_42_43_44_45_46_47_48_49_50_51_52_53_54_55_56_57_58_59/rollout/requests/mtu3d_baseline_3532758/mtu3d_baseline.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu7_60_61_62_63_64_65_66_67_68_69_70_71_72_73_74_75_76_77_78_79/rollout/provenance_mtu3d_baseline_2601917.json

@@ -0,0 +1,205 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "mtu3d_baseline",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": false,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": false,
+    "adapter_used": false,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": null,
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": null,
+    "v183_runtime_acceptance": null,
+    "v166_deployment_residual_policy": null,
+    "adapter_report": null,
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": null,
+    "v183_mechanism_report": null,
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "none",
+    "point_source_mode": "none",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": null,
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": null,
+      "adapter_report": null,
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "mtu3d_baseline",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "none",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "none",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 0,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/baseline/gpu7_60_61_62_63_64_65_66_67_68_69_70_71_72_73_74_75_76_77_78_79/rollout/requests/mtu3d_baseline_2601917/mtu3d_baseline.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_0_1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19/rollout/provenance_nav3r_zplusm_mtu3d_209329.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_0_1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19/rollout/requests/nav3r_zplusm_mtu3d_209329/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_160_161_162_163_164_165_166_167_168_169_170_171_172_173_174_175_176_177_178_179/rollout/provenance_nav3r_zplusm_mtu3d_452766.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_160_161_162_163_164_165_166_167_168_169_170_171_172_173_174_175_176_177_178_179/rollout/requests/nav3r_zplusm_mtu3d_452766/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_240_241_242_243_244_245_246_247_248_249_250_251_252_253_254_255_256_257_258_259/rollout/provenance_nav3r_zplusm_mtu3d_157776.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_240_241_242_243_244_245_246_247_248_249_250_251_252_253_254_255_256_257_258_259/rollout/requests/nav3r_zplusm_mtu3d_157776/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_80_81_82_83_84_85_86_87_88_89_90_91_92_93_94_95_96_97_98_99/rollout/provenance_nav3r_zplusm_mtu3d_2601922.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu4_80_81_82_83_84_85_86_87_88_89_90_91_92_93_94_95_96_97_98_99/rollout/requests/nav3r_zplusm_mtu3d_2601922/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_100_101_102_103_104_105_106_107_108_109_110_111_112_113_114_115_116_117_118_119/rollout/provenance_nav3r_zplusm_mtu3d_4168230.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_100_101_102_103_104_105_106_107_108_109_110_111_112_113_114_115_116_117_118_119/rollout/requests/nav3r_zplusm_mtu3d_4168230/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_180_181_182_183_184_185_186_187_188_189_190_191_192_193_194_195_196_197_198_199/rollout/provenance_nav3r_zplusm_mtu3d_103511.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_180_181_182_183_184_185_186_187_188_189_190_191_192_193_194_195_196_197_198_199/rollout/requests/nav3r_zplusm_mtu3d_103511/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_20_21_22_23_24_25_26_27_28_29_30_31_32_33_34_35_36_37_38_39/rollout/provenance_nav3r_zplusm_mtu3d_2601918.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_20_21_22_23_24_25_26_27_28_29_30_31_32_33_34_35_36_37_38_39/rollout/requests/nav3r_zplusm_mtu3d_2601918/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_260_261_262_263_264_265_266_267_268_269_270_271_272_273_274_275_276_277_278_279/rollout/provenance_nav3r_zplusm_mtu3d_2601956.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu5_260_261_262_263_264_265_266_267_268_269_270_271_272_273_274_275_276_277_278_279/rollout/requests/nav3r_zplusm_mtu3d_2601956/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_120_121_122_123_124_125_126_127_128_129_130_131_132_133_134_135_136_137_138_139/rollout/provenance_nav3r_zplusm_mtu3d_215095.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_120_121_122_123_124_125_126_127_128_129_130_131_132_133_134_135_136_137_138_139/rollout/requests/nav3r_zplusm_mtu3d_215095/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_200_201_202_203_204_205_206_207_208_209_210_211_212_213_214_215_216_217_218_219/rollout/provenance_nav3r_zplusm_mtu3d_2601965.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_200_201_202_203_204_205_206_207_208_209_210_211_212_213_214_215_216_217_218_219/rollout/requests/nav3r_zplusm_mtu3d_2601965/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_280_281_282_283_284_285_286_287_288_289_290_291_292_293_294_295_296_297_298_299/rollout/provenance_nav3r_zplusm_mtu3d_3020715.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_280_281_282_283_284_285_286_287_288_289_290_291_292_293_294_295_296_297_298_299/rollout/requests/nav3r_zplusm_mtu3d_3020715/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_40_41_42_43_44_45_46_47_48_49_50_51_52_53_54_55_56_57_58_59/rollout/provenance_nav3r_zplusm_mtu3d_1157852.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu6_40_41_42_43_44_45_46_47_48_49_50_51_52_53_54_55_56_57_58_59/rollout/requests/nav3r_zplusm_mtu3d_1157852/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_140_141_142_143_144_145_146_147_148_149_150_151_152_153_154_155_156_157_158_159/rollout/provenance_nav3r_zplusm_mtu3d_2601931.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_140_141_142_143_144_145_146_147_148_149_150_151_152_153_154_155_156_157_158_159/rollout/requests/nav3r_zplusm_mtu3d_2601931/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_220_221_222_223_224_225_226_227_228_229_230_231_232_233_234_235_236_237_238_239/rollout/provenance_nav3r_zplusm_mtu3d_3085448.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_220_221_222_223_224_225_226_227_228_229_230_231_232_233_234_235_236_237_238_239/rollout/requests/nav3r_zplusm_mtu3d_3085448/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/provenance_nav3r_zplusm_mtu3d_3792099.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/requests/nav3r_zplusm_mtu3d_3792099/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_60_61_62_63_64_65_66_67_68_69_70_71_72_73_74_75_76_77_78_79/rollout/provenance_nav3r_zplusm_mtu3d_4164462.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": true,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "none",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "zplusm_reconstruction",
+    "zplusm_runtime_used": true,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": true,
+  "initial_scan_builds_raw_rgbd_point_cloud": false,
+  "point_source_mode": "zplusm_reconstruction",
+  "zplusm_runtime_used": true,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/correct/gpu7_60_61_62_63_64_65_66_67_68_69_70_71_72_73_74_75_76_77_78_79/rollout/requests/nav3r_zplusm_mtu3d_4164462/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/logs/baseline_gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319.log

@@ -0,0 +1,95 @@
+[00:53:23:337459]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00871-VBzV5z6i1WS/VBzV5z6i1WS.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 26, "policy": "mtu3d_baseline", "steps": 50, "decisions": 1, "collisions": 0, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 775, "occupied_cells": 479}
+{"type": "episode_progress", "episode_index": 26, "policy": "mtu3d_baseline", "steps": 100, "decisions": 4, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1278, "occupied_cells": 696}
+{"index": 300, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 1.0897135734558105, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:54:06:149890]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00894-HY1NcmCgn3n/HY1NcmCgn3n.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 24, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1278, "occupied_cells": 266}
+{"type": "episode_progress", "episode_index": 24, "policy": "mtu3d_baseline", "steps": 100, "decisions": 5, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1525, "occupied_cells": 325}
+{"index": 301, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 8.455572128295898, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:54:49:447895]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00877-4ok3usBNeis/4ok3usBNeis.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 10, "policy": "mtu3d_baseline", "steps": 50, "decisions": 4, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 461, "occupied_cells": 287}
+{"type": "episode_progress", "episode_index": 10, "policy": "mtu3d_baseline", "steps": 100, "decisions": 7, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1062, "occupied_cells": 718}
+{"type": "episode_progress", "episode_index": 10, "policy": "mtu3d_baseline", "steps": 150, "decisions": 8, "collisions": 2, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1065, "occupied_cells": 777}
+{"index": 302, "policy": "mtu3d_baseline", "success": 1.0, "spl": 0.36685386724947316, "final_dtg_m": 0.03702623397111893, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:55:32:635390]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00873-bxsVRursffK/bxsVRursffK.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 27, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 575, "occupied_cells": 455}
+{"type": "episode_progress", "episode_index": 27, "policy": "mtu3d_baseline", "steps": 100, "decisions": 4, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 761, "occupied_cells": 538}
+{"type": "episode_progress", "episode_index": 27, "policy": "mtu3d_baseline", "steps": 150, "decisions": 5, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 814, "occupied_cells": 660}
+{"type": "episode_progress", "episode_index": 27, "policy": "mtu3d_baseline", "steps": 200, "decisions": 7, "collisions": 1, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 888, "occupied_cells": 691}
+{"index": 303, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 4.780230522155762, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:56:22:669269]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00803-k1cupFYWXJ6/k1cupFYWXJ6.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 3, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 996, "occupied_cells": 524}
+{"type": "episode_progress", "episode_index": 3, "policy": "mtu3d_baseline", "steps": 100, "decisions": 5, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1074, "occupied_cells": 747}
+{"type": "episode_progress", "episode_index": 3, "policy": "mtu3d_baseline", "steps": 150, "decisions": 6, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1195, "occupied_cells": 901}
+{"index": 304, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 13.358281135559082, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:57:00:611315]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00873-bxsVRursffK/bxsVRursffK.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 17, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 694, "occupied_cells": 285}
+{"type": "episode_progress", "episode_index": 17, "policy": "mtu3d_baseline", "steps": 100, "decisions": 5, "collisions": 2, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 905, "occupied_cells": 449}
+{"index": 305, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 1.2466557025909424, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:57:30:960259]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00803-k1cupFYWXJ6/k1cupFYWXJ6.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 0, "policy": "mtu3d_baseline", "steps": 50, "decisions": 3, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 670, "occupied_cells": 500}
+{"type": "episode_progress", "episode_index": 0, "policy": "mtu3d_baseline", "steps": 100, "decisions": 5, "collisions": 0, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 699, "occupied_cells": 535}
+{"index": 306, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 0.23955388367176056, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:57:59:669145]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00831-yr17PDCnDDW/yr17PDCnDDW.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 7, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1705, "occupied_cells": 669}
+{"type": "episode_progress", "episode_index": 7, "policy": "mtu3d_baseline", "steps": 100, "decisions": 4, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1961, "occupied_cells": 807}
+{"type": "episode_progress", "episode_index": 7, "policy": "mtu3d_baseline", "steps": 150, "decisions": 5, "collisions": 0, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 2325, "occupied_cells": 858}
+{"type": "episode_progress", "episode_index": 7, "policy": "mtu3d_baseline", "steps": 200, "decisions": 7, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 2398, "occupied_cells": 920}
+{"type": "episode_progress", "episode_index": 7, "policy": "mtu3d_baseline", "steps": 250, "decisions": 9, "collisions": 2, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 2379, "occupied_cells": 955}
+{"index": 307, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 0.28391605615615845, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[00:59:33:766505]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00815-h1zeeAwLh9Z/h1zeeAwLh9Z.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 23, "policy": "mtu3d_baseline", "steps": 50, "decisions": 1, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 588, "occupied_cells": 244}
+{"type": "episode_progress", "episode_index": 23, "policy": "mtu3d_baseline", "steps": 100, "decisions": 3, "collisions": 0, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 860, "occupied_cells": 424}
+{"index": 308, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 0.18154911696910858, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[01:00:01:511520]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00894-HY1NcmCgn3n/HY1NcmCgn3n.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 21, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1271, "occupied_cells": 291}
+{"type": "episode_progress", "episode_index": 21, "policy": "mtu3d_baseline", "steps": 100, "decisions": 4, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1264, "occupied_cells": 308}
+{"type": "episode_progress", "episode_index": 21, "policy": "mtu3d_baseline", "steps": 150, "decisions": 6, "collisions": 1, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1638, "occupied_cells": 368}
+{"type": "episode_progress", "episode_index": 21, "policy": "mtu3d_baseline", "steps": 200, "decisions": 9, "collisions": 2, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1866, "occupied_cells": 476}
+{"index": 309, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 0.11292664706707001, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[01:00:52:853412]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00832-qyAac8rV8Zk/qyAac8rV8Zk.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 19, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 1, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 485, "occupied_cells": 377}
+{"type": "episode_progress", "episode_index": 19, "policy": "mtu3d_baseline", "steps": 100, "decisions": 6, "collisions": 1, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 734, "occupied_cells": 451}
+{"index": 310, "policy": "mtu3d_baseline", "success": 0.0, "spl": 0.0, "final_dtg_m": 4.058567047119141, "record": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/objectnav_hm3d_v2/v191_v187_fresh320_full386_r1_20260824/baseline/gpu7_300_301_302_303_304_305_306_307_308_309_310_311_312_313_314_315_316_317_318_319/rollout/records_mtu3d_baseline_2601968.jsonl"}
+[01:01:27:136698]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00831-yr17PDCnDDW/yr17PDCnDDW.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 8, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 2, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1333, "occupied_cells": 510}
+{"type": "episode_progress", "episode_index": 8, "policy": "mtu3d_baseline", "steps": 100, "decisions": 4, "collisions": 4, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 1469, "occupied_cells": 570}
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+[01:02:15:439884]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00871-VBzV5z6i1WS/VBzV5z6i1WS.basis.scn` exists but failed to load.
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+[01:03:03:890264]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00848-ziup5kvtCCR/ziup5kvtCCR.basis.scn` exists but failed to load.
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+[01:03:36:443877]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00853-5cdEh9F2hJL/5cdEh9F2hJL.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 23, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 364, "occupied_cells": 240}
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+[01:04:52:980616]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00871-VBzV5z6i1WS/VBzV5z6i1WS.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 6, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "TURN_LEFT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 621, "occupied_cells": 393}
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+[01:05:27:138462]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00832-qyAac8rV8Zk/qyAac8rV8Zk.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 3, "policy": "mtu3d_baseline", "steps": 50, "decisions": 1, "collisions": 0, "last_action": "TURN_RIGHT", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 831, "occupied_cells": 455}
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+[01:05:54:917846]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00861-GLAQ4DNUx5U/GLAQ4DNUx5U.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 22, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 509, "occupied_cells": 274}
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+[01:06:27:121944]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00820-mL8ThkuaVTM/mL8ThkuaVTM.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 1, "policy": "mtu3d_baseline", "steps": 50, "decisions": 5, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 481, "occupied_cells": 429}
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+[01:06:47:535470]:[Error]:[Scene] SemanticScene.cpp(139)::loadSemanticSceneDescriptor : SSD Load Failure! File with SemanticAttributes-provided name `/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/habitat/data/scene_datasets/hm3d/val/00832-qyAac8rV8Zk/qyAac8rV8Zk.basis.scn` exists but failed to load.
+{"type": "episode_progress", "episode_index": 6, "policy": "mtu3d_baseline", "steps": 50, "decisions": 2, "collisions": 0, "last_action": "MOVE_FORWARD", "planner_status": "habitat_greedy_geodesic_follower", "free_cells": 797, "occupied_cells": 433}
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experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_0_1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19/rollout/provenance_nav3r_zplusm_mtu3d_888745.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "raw_rgbd_ptv3",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "raw_habitat_rgbd_accumulation",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": true,
+  "point_source_mode": "raw_habitat_rgbd_accumulation",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_0_1_2_3_4_5_6_7_8_9_10_11_12_13_14_15_16_17_18_19/rollout/requests/nav3r_zplusm_mtu3d_888745/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_160_161_162_163_164_165_166_167_168_169_170_171_172_173_174_175_176_177_178_179/rollout/provenance_nav3r_zplusm_mtu3d_2601945.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "raw_rgbd_ptv3",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "raw_habitat_rgbd_accumulation",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": true,
+  "point_source_mode": "raw_habitat_rgbd_accumulation",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_160_161_162_163_164_165_166_167_168_169_170_171_172_173_174_175_176_177_178_179/rollout/requests/nav3r_zplusm_mtu3d_2601945/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_240_241_242_243_244_245_246_247_248_249_250_251_252_253_254_255_256_257_258_259/rollout/provenance_nav3r_zplusm_mtu3d_1585692.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "raw_rgbd_ptv3",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "raw_habitat_rgbd_accumulation",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": true,
+  "point_source_mode": "raw_habitat_rgbd_accumulation",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_240_241_242_243_244_245_246_247_248_249_250_251_252_253_254_255_256_257_258_259/rollout/requests/nav3r_zplusm_mtu3d_1585692/nav3r_zplusm_mtu3d.worker.stderr.log

@@ -0,0 +1,22 @@
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/transformers/utils/hub.py:124: FutureWarning: Using `TRANSFORMERS_CACHE` is deprecated and will be removed in v5 of Transformers. Use `HF_HOME` instead.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:313: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:316: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage1.load_state_dict(torch.load(os.path.join(stage1_dir, 'pytorch_model.bin'), map_location='cpu'))
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:325: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  hydra.initialize(config_path=config_path)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/hm3d-online/data_utils.py:328: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature.
+  self.pq3d_stage2.load_state_dict(torch.load(os.path.join(stage2_dir, 'pytorch_model.bin'), map_location='cpu'), strict=False)
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/physbench_envs/envs/physbench-objectnav-mtu3d/lib/python3.10/site-packages/huggingface_hub/file_download.py:949: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
+  warnings.warn(
+/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/code/third_party/MTU3D/model/mask3d.py:438: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with autocast(enabled=False):

experiments/objectnav_v182_v187_v189_v191/v191_full386/fresh320_runtime/raw_rgbd/gpu4_80_81_82_83_84_85_86_87_88_89_90_91_92_93_94_95_96_97_98_99/rollout/provenance_nav3r_zplusm_mtu3d_2874918.json

@@ -0,0 +1,320 @@
+{
+  "protocol_schema": "nav3r-hm3d-objectnav-mtu3d-ab/v26-ggf-candidate-local",
+  "task": "objectnav",
+  "worker_ready": {
+    "type": "ready",
+    "policy": "nav3r_zplusm_mtu3d",
+    "device": "cuda:0",
+    "goal_coordinates_supported": false,
+    "point_branch": true,
+    "training_cache_capture": false,
+    "shared_counterfactual_audit_v152": false,
+    "target_free_point_runtime": true,
+    "adapter_used": true,
+    "shared_task_adapter_used": true,
+    "shared_task_adapter": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v132_goal_prompt_positive_mass_rank64_seed20260826_20260818/best_objectnav_task_adapter.pt",
+      "sha256": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "schema": "nav3r-frozen-mtu3d-goal-conditioned-task-adapter/v132",
+      "architecture": {
+        "architecture": "frozen_mtu3d_official_goal_prompt_conditioned_decoupled_task_residual_v132",
+        "hidden_size": 768,
+        "rank": 64,
+        "uses_rgbd": false,
+        "uses_point_features": false,
+        "uses_reference_path": false,
+        "uses_goal_coordinates": false,
+        "uses_teacher_at_inference": false,
+        "candidate_type_used": true,
+        "separate_ground_and_decision_scorers": true,
+        "separate_zero_initialized_public_gates": true,
+        "zero_gate_exact_raw_mtu3d": true,
+        "public_ground_gate": 0.6125781536102295,
+        "public_decision_gate": 0.6928671002388,
+        "prompt_vocab_size": 49408,
+        "prompt_special_token_floor": 49406,
+        "uses_official_goal_category_prompt": true
+      },
+      "selection_gate": {
+        "loss_below_raw_mtu3d": true,
+        "ground_above_raw_mtu3d": true,
+        "decision_above_raw_mtu3d": true,
+        "joint_gain_at_least_2pp": true,
+        "absolute_ground_at_least_35pct": false,
+        "absolute_decision_at_least_65pct": true,
+        "absolute_joint_at_least_24pct": true,
+        "joint_scene_bootstrap_ci_low_above_zero": true,
+        "cached_baseline_exact_every_record": true,
+        "off_gate_exact_every_record": true,
+        "passed": false
+      },
+      "uses_points": false,
+      "uses_goal_coordinates": false
+    },
+    "adapter_kind": "candidate_local_v182",
+    "v152_runtime_acceptance": null,
+    "v166_runtime_acceptance": null,
+    "v170_runtime_acceptance": null,
+    "v173_runtime_acceptance": null,
+    "v171_runtime_acceptance": null,
+    "v178_runtime_acceptance": null,
+    "v182_runtime_acceptance": {
+      "schema": "nav3r-v182-layer34-quality-runtime-acceptance/v1",
+      "adapter_sha256": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "source_adapter_sha256": "9a9dcf098d71701ba4baf543d29edd239ebe753f199735714906cded33f47baf",
+      "seed": 123,
+      "bounded_onpolicy_train_only": true,
+      "single_insertion_after_layer3_before_layer4": true,
+      "candidate_local_ptv3_source": true,
+      "candidate_reconstruction_quality_gate": true,
+      "post_logit_residual_absent": true,
+      "ptv3_zero_exact_frozen_baseline": true,
+      "paired_objectnav_baseline_correct_eligible": true,
+      "deferred_controls": [
+        "coordinate",
+        "semantic",
+        "wrong_scene"
+      ]
+    },
+    "v183_runtime_acceptance": {
+      "schema": "nav3r-v183-active-class-safe-runtime-acceptance/v1",
+      "underlying_early_fusion": "frozen_v182_layer3_to_layer4",
+      "formal_hm3d_validation_used_for_rule_selection": false,
+      "mechanism_scene_count": 29,
+      "mechanism_record_count": 1758,
+      "first_four_decisions_exact_baseline": true,
+      "late_object_branch_open": true,
+      "late_frontier_minimum_baseline_margin": 0.025,
+      "point_decision_class_change_rejected": true,
+      "decision_logits_exact_frozen_baseline": true,
+      "teacher_labels_used_at_deployment": false,
+      "goal_coordinates_used": false,
+      "mechanism_replay_rescue": 11,
+      "mechanism_replay_harm": 0,
+      "mechanism_replay_ci95_low": 0.002905287623474724
+    },
+    "v166_deployment_residual_policy": null,
+    "adapter_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/objectnav_v182_layer34_gate_formal_r2_seed123_20260823/training_report.json",
+      "sha256": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb"
+    },
+    "v170_fast_aggregate_report": null,
+    "v171_fast_aggregate_report": null,
+    "v172_runtime_acceptance": null,
+    "v172_aggregate_report": null,
+    "v178_aggregate_report": null,
+    "v182_aggregate_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/ptv3/v182_layer34_quality_20260823/v182_three_seed_aggregate.json",
+      "sha256": "1228abe3ad57f7c2b3572aab3224bf0235d763c0aefeb8e67f0e360c85df3620"
+    },
+    "v183_mechanism_report": {
+      "path": "/mnt/einsia/aws01-nvme/einsia-shared/homes/gaomingju/workspace/physbench_nav3r_objectnav_20260814/runtime/staging/v183_active_class_safe_20260823/evidence/v182_heldout_active_class_risk_analysis.json",
+      "sha256": "a7810f1ba2467c7d7d3eef16e056b45eb88fe780204385061aab5476cb7aa813"
+    },
+    "candidate_local_control_mode": "raw_rgbd_ptv3",
+    "wrong_scene_bank": null,
+    "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+    "point_source_mode": "raw_habitat_rgbd_accumulation",
+    "zplusm_runtime_used": false,
+    "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+    "architecture": {
+      "architecture": "candidate_conditioned_highres_ptv3_memory_once_after_mtu3d_layer3_before_frozen_layer4_quality_gated_v182",
+      "human_insertion_after_layer": 3,
+      "human_insertion_before_layer": 4,
+      "insertion_count_per_forward": 1,
+      "point_feature_dim": 1088,
+      "hidden_size": 768,
+      "semantic_feature_dim": 768,
+      "shell_count": 3,
+      "attention_rank": 64,
+      "lora_rank": 8,
+      "semantic_features_preencoded_by_frozen_mtu3d_mv_encoder": true,
+      "candidate_query_and_same_forward_goal_condition_attention": true,
+      "attention_value_source": "frozen_ptv3_backbone_only_bias_free",
+      "semantic_auxiliary_used_for_object_training_only": true,
+      "semantic_auxiliary_added_to_deployed_logits": false,
+      "ptv3_backbone_zero_exact_frozen_baseline": true,
+      "global_point_pool_used": false,
+      "frozen_layer4_and_original_heads_consume_update": true,
+      "public_gate": 0.0,
+      "object_semantics_applied_to_real_object_candidates_only": true,
+      "frontier_candidates_use_ptv3_geometry_without_object_semantics": true,
+      "candidate_type_source": "frozen_mtu3d_real_obj_pad_masks",
+      "schema": "nav3r-mtu3d-ptv3-layer34-quality-gate-adapter/v182",
+      "source_and_quality_trained_in_separate_phases": true,
+      "candidate_quality_feature_names": [
+        "mean_point_confidence",
+        "std_point_confidence",
+        "mean_log_observation_count",
+        "repeated_observation_fraction",
+        "mean_point_freshness",
+        "local_evidence_fraction",
+        "same_source_semantic_fraction",
+        "near_shell_fraction",
+        "middle_shell_fraction",
+        "far_shell_fraction",
+        "mean_normalized_distance",
+        "std_normalized_distance",
+        "candidate_is_object",
+        "relative_mean_point_confidence",
+        "relative_std_point_confidence",
+        "relative_mean_log_observation_count",
+        "relative_repeated_observation_fraction",
+        "relative_mean_point_freshness",
+        "relative_local_evidence_fraction",
+        "relative_same_source_semantic_fraction",
+        "relative_near_shell_fraction",
+        "relative_middle_shell_fraction",
+        "relative_far_shell_fraction",
+        "relative_mean_normalized_distance",
+        "relative_std_normalized_distance",
+        "reconstruction_acceptance_rate",
+        "reconstruction_median_depth_quality",
+        "reconstruction_p90_depth_quality",
+        "reconstruction_trusted_voxel_mass",
+        "reconstruction_cumulative_point_mass",
+        "reconstruction_scale_match_mass",
+        "reconstruction_quality_available"
+      ],
+      "quality_gate_uses_candidate_query_and_source_delta": true,
+      "quality_gate_zero_initialized": true,
+      "quality_gate_formula": "tanh(candidate_score)*Q_recon*has_local_ptv3",
+      "closed_gate_exact_point_free_baseline": true,
+      "gate_audit": {
+        "gate_mode": "raw",
+        "active_candidate_count": 53,
+        "nonzero_candidate_count": 53,
+        "mean_abs_gate": 1.0,
+        "mean_reconstruction_quality": 0.9373170733451843,
+        "max_abs_source_delta": 4.7653703689575195,
+        "max_abs_public_delta": 4.7653703689575195,
+        "formula": "tanh(candidate_score)*Q_recon*has_local_ptv3"
+      }
+    },
+    "checkpoint_report": {
+      "loaded_tensor_count": 388,
+      "missing_keys": [
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.1.weight",
+        "image_encoder.input_feat_proj.1.bias"
+      ],
+      "allowed_missing_keys": [
+        "image_encoder.input_feat_proj.0.bias",
+        "image_encoder.input_feat_proj.0.weight",
+        "image_encoder.input_feat_proj.1.bias",
+        "image_encoder.input_feat_proj.1.weight"
+      ],
+      "disallowed_missing_keys": [],
+      "unused_allowed_missing_keys": [],
+      "unexpected_keys": [],
+      "strict_original_coverage": false,
+      "strict_text_goal_coverage": true,
+      "declared_profile": "ovon"
+    },
+    "stage2_coordinate_frame": "official_world",
+    "hashes": {
+      "mtu3d_stage1": "8d064237059b673eb0d93594fcc9d1f927afa4e8bd4fbb9ec0199c87bef42de0",
+      "mtu3d_stage2": "cf3dd7762e3078407eea4a544cbac9d3df09b2bc60c8770b0eee320df2a03254",
+      "sonata": "c5ced5acdae30d1c469713398073a866e25e6e414e23feed5dc025373657ac50",
+      "adapter": "39650eb345273cb70ae827b91219573d3696d617a6480ea29b5afff3308b437b",
+      "adapter_report": "000addc6e4f801cab463c88f2fcfb0b8a4775cffa5856db656a0332a06b5b9fb",
+      "shared_task_adapter": "ff3964eac22a0ccc0f845512f50c9f5eb2697968876ba7498f4313879ac3fe45",
+      "fastsam": "752cadc2828edb1cd4bc4f9eb587100631af06ea2108f4c9ed56df4755701e76",
+      "zplusm": "68d306536b2652ce9f4a0f70ab59ad8aa221cd989a144147dfe1a33eecfcade1",
+      "mvsplat": "83d0d9eaa753fa4a1f925288dc1f90b8c3297fad0ab0f6ed1f11a1c5946da25a",
+      "mvsplat_config": "0d527ab4f77c4c892ceca23341ec6cafebc1b8f51881812104e36a9eaa414f7d"
+    }
+  },
+  "selection_sha256": "38b60c35f4826343f6c2dc515e201c7548e08d9c4521f46b12ee3d70da8be243",
+  "policy": "nav3r_zplusm_mtu3d",
+  "navigation_backbone_scope": "official MTU3D stage2-fine-tune-ovon text-goal checkpoint",
+  "official_goal_coordinates_passed_to_policy": false,
+  "official_goal_coordinates_passed_to_low_level_controller": false,
+  "simulator_observation_modalities": [
+    "rgb",
+    "depth"
+  ],
+  "simulator_semantic_sensor_enabled": false,
+  "semantic_scene_descriptor_used_by_policy": false,
+  "semantic_scene_descriptor_used_by_evaluator": false,
+  "task_goal_reference_source": "official_objectnav_episode_goals_by_category_view_points",
+  "oracle_shortest_path_controller_used": true,
+  "low_level_controller_is_oracle_navmesh_executor": true,
+  "habitat_challenge_tag": "challenge-2023",
+  "distance_to": "VIEW_POINTS",
+  "success_distance_m": 0.1,
+  "vlnce_ndtw_method": null,
+  "vlnce_ndtw_gt_path": null,
+  "vlnce_ndtw_gt_sha256": null,
+  "evaluation_uses_all_official_goal_viewpoints": true,
+  "decision_interval_steps": null,
+  "waypoint_commitment_enabled": true,
+  "maximum_waypoint_actions": 40,
+  "maximum_waypoint_collisions": 2,
+  "maximum_nonprogress_actions": 12,
+  "maximum_alternating_turn_actions": 6,
+  "low_level_planner": "Habitat GreedyGeodesicFollower on navmesh; input is only the model-selected waypoint snapped to the current agent island",
+  "planner_subgoal_commitment_enabled": false,
+  "planner_subgoal_reached_distance_m": 0.25,
+  "planner_obstacle_inflation_cells": 1,
+  "failed_object_waypoint_recovery": "model_ranked_sensor_frontier_after_stall",
+  "failed_object_recovery_uses_goal_coordinates": false,
+  "failed_object_recovery_uses_navmesh": false,
+  "frontier_memory_exhaustion_recovery": "recycle_sensor_frontier_pool",
+  "frontier_terminal_escape": "bounded_depth_scan_then_clear_forward",
+  "empty_stage1_rgbd_handling": "reuse_accumulated_object_memory_and_current_sensor_frontiers",
+  "maximum_frontier_terminal_turns": 6,
+  "object_confirmations_required_before_stop": 2,
+  "object_confirmation_radius_m": 1.0,
+  "object_confirmation_uses_oracle_semantics": false,
+  "initial_scan_steps": 12,
+  "initial_scan_action": "TURN_LEFT",
+  "initial_scan_turn_degrees": 30.0,
+  "initial_scan_full_rotation_degrees": 360.0,
+  "navigation_turn_degrees": 30.0,
+  "turn_threshold_degrees": 16.0,
+  "move_forward_step_m": 0.25,
+  "sensor_resolution": [
+    640,
+    360
+  ],
+  "depth_sensor_resolution": [
+    640,
+    360
+  ],
+  "sensor_hfov_degrees": 42.0,
+  "sensor_height_m": 1.31,
+  "depth_range_m": [
+    0.5,
+    5.0
+  ],
+  "agent_height_m": 1.41,
+  "agent_radius_m": 0.17,
+  "allow_sliding": false,
+  "minimum_forward_displacement_m": 0.05,
+  "collision_feedback_updates_occupancy": true,
+  "collision_recovery_uses_oracle": false,
+  "initial_scan_uses_goal_category": false,
+  "initial_scan_uses_goal_coordinates": false,
+  "initial_scan_consumes_step_budget": true,
+  "initial_scan_collects_multiview_rgbd": true,
+  "initial_scan_builds_cumulative_point_cloud": true,
+  "initial_scan_builds_native_mtu3d_3d_representation": true,
+  "initial_scan_native_mtu3d_views": 12,
+  "initial_scan_builds_zplusm_point_cloud": false,
+  "initial_scan_builds_raw_rgbd_point_cloud": true,
+  "point_source_mode": "raw_habitat_rgbd_accumulation",
+  "zplusm_runtime_used": false,
+  "point_fusion_evidence_mode": "current_episode_candidate_local_memory",
+  "wrong_scene_bank": null,
+  "initial_scan_geometry_update_requests": 11,
+  "zplusm_reconstruction_window_views": 2,
+  "zplusm_rejection_state_policy": "reset_before_rotation_after_rejection",
+  "zplusm_navigation_update_schedule": "defer_commit_until_translation",
+  "navigation_step_budget": 488,
+  "navigation_point_cloud_update_every_observation": false,
+  "navigation_point_cloud_deferred_views_retained": true,
+  "online_redecision_every_primitive_step": false,
+  "online_redecision_every_post_scan_primitive_step": false
+}