processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo: layout switch step 25/31: switch processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo

.gitattributes

@@ -56,3 +56,4 @@ processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index
 processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text
 processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/containers/index.json filter=lfs diff=lfs merge=lfs -text
 processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/containers/index.json filter=lfs diff=lfs merge=lfs -text
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processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/README.md

@@ -12,7 +12,8 @@ Deform360 sloth episode 0 (U08c D2) photometric Adam (Adam-only, 500 passes, 84,
 | Labels | BEST adam/pass_end_0497, FINAL adam/pass_end_0500 |
 | Code revision(s) | `5be01e74d32c3fca512e45ac4ace78d7ee131fff`; dirty tree by stage: photometric_adam reported clean |
 | Checkpoint rows | 506 (`checkpoints.tsv`) |
-| Archived native records | 84,000 per-update records in 9 tar archives (`archives/members.json`, owner D16) |
+| Containers | 86,527 native and evidence files packed in 8 uncompressed tar containers by category (adam_pass_record 1, adam_state_bundle 2, adam_update_rows 1, frozen_score 1, frozen_score_arrays 1, logs 1, records 1); `containers/index.json` lists each member's path, offset, size and sha256, and `checkpoints.tsv` still lists every checkpoint file |
+| Native file count | 86,520 files (2,892,547,991 B); the earlier record counted 2,520, omitting the per-update records it had archived (owner D16) |
 
 ## Stages
 

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-{
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processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/photometric_views_cameras/cameras.npz

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processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/photometric_views_selection_records/survey.csv

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processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/u08c_d2_090-sloth_ep0/dp2/appearance/qualification_d2_t0/splat_50/import.json

@@ -1,726 +0,0 @@
-{
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-      "max": 1.0
-    },
-    "opacity_below_0.1_count": 145,
-    "opacity_below_0.005_count": 0,
-    "stored_quaternion_norms": {
-      "count": 12346,
-      "mean": 0.9999999881572822,
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-      "min": 0.9999998807907104,
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-      "median": 1.0,
-      "p90": 1.0,
-      "p95": 1.0,
-      "p99": 1.0,
-      "max": 1.0
-    },
-    "dc_rgb_by_channel": [
-      {
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-        "mean": 0.4496102115984541,
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-        "p90": 0.8554308414459229,
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-        "p99": 0.9535487830638885,
-        "max": 1.139984369277954
-      }
-    ],
-    "dc_outside_0_1_gaussian_count": 38,
-    "dc_outside_0_1_gaussian_fraction": 0.003077919974080674,
-    "dc_below_0_channels": 4,
-    "dc_above_1_channels": 34
-  },
-  "sh_degree": 0,
-  "alterations": [],
-  "bitwise_roundtrip": true
-}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.err

@@ -1,43 +0,0 @@
-wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
-wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
-wandb: setting up run cdcc74c16eda45e6
-wandb: Tracking run with wandb version 0.28.2
-wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/runs/wandb/run-20261015_110003-cdcc74c16eda45e6
-wandb: Run `wandb offline` to turn off syncing.
-wandb: Syncing run DEFORM360_U08C_D2_sloth_ep0_50_218_photometric_20261014
-wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
-wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/cdcc74c16eda45e6
-wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
-wandb: updating run metadata
-wandb: uploading config.yaml; uploading wandb-summary.json
-wandb: 
-wandb: Run history:
-wandb:            deform/health/fit_complete ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb: deform/health/record/nonfinite_fields ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb:          deform/health/record/ordinal ▁▁▁▁▂▂▂▂▂▂▃▃▃▄▄▄▄▄▅▅▅▅▅▅▅▅▆▆▇▇▇▇▇▇▇█████
-wandb:         deform/health/score_completed ▁▁▁▁▂▂▂▂▃▃▃▃▃▃▃▄▄▄▄▄▅▅▅▅▅▅▆▆▆▇▇▇▇▇▇▇▇▇██
-wandb:          deform/health/score_consumed ▁▁▁▂▂▃▃▃▃▃▃▄▄▄▄▄▄▄▅▅▅▅▅▅▆▆▆▆▆▇▇▇▇▇██████
-wandb:            deform/health/score_errors ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb:           deform/health/score_pending █▁█▁▁▁▁█▁▁▁▁█▁██▁▁▁▁▁▁███▁▁▁██▁▁▁█▁▁▁██▁
-wandb:          deform/health/service_active ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb:       deform/health/source_update_lag ▁▅▄▇▆▇▆▃▄▃▆▃▄▅▅▅▃▄▆█▃█▅▇▆▃▅▆▃▆▇▆▄▆▇▃▃▃▃█
-wandb:             deform/health/status_code ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb:                                  +267 ...
-wandb: 
-wandb: Run summary:
-wandb:            deform/health/fit_complete 0
-wandb: deform/health/record/nonfinite_fields 0
-wandb:          deform/health/record/ordinal 87799
-wandb:         deform/health/score_completed 500
-wandb:          deform/health/score_consumed 500
-wandb:            deform/health/score_errors 0
-wandb:           deform/health/score_pending 1
-wandb:          deform/health/service_active 1
-wandb:       deform/health/source_update_lag 168
-wandb:             deform/health/status_code 0
-wandb:                                  +274 ...
-wandb: 
-wandb: 🚀 View run DEFORM360_U08C_D2_sloth_ep0_50_218_photometric_20261014 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/cdcc74c16eda45e6
-wandb: ⭐️ View project at: https://wandb.ai/serialexperimentsleon/belt_perception
-wandb: Synced 2 W&B file(s), 0 media file(s), 0 artifact file(s) and 1 other file(s)
-wandb: Find logs at: /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/runs/wandb/run-20261015_110003-cdcc74c16eda45e6/logs

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.out

@@ -1,120 +0,0 @@
-{
-  "agent_worktree_root": "/vast/projects/posa/contact-rich-robot/worktrees",
-  "allowed_worktree_roots": [
-    "/vast/projects/posa/contact-rich-robot/worktrees"
-  ],
-  "canonical_repo_path": "/vast/projects/posa/contact-rich-robot/belt_perception",
-  "data_root": "/vast/projects/posa/contact-rich-robot/data",
-  "execution_environment": "parcc",
-  "peer_ssh_alias": "magna-gpu",
-  "project_root": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014",
-  "run_root": "/vast/projects/posa/contact-rich-robot/runs",
-  "scratch_root": "/vast/projects/posa/contact-rich-robot/scratch",
-  "shared_root": "/vast/projects/posa/contact-rich-robot/data/belt_perception_shared",
-  "transfer_root": "/vast/projects/posa/contact-rich-robot/transfers",
-  "uv_cache_root": "/vast/projects/posa/contact-rich-robot/uv/cache"
-}
-Agent preflight summary
-  execution_environment: parcc
-  pwd:              /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
-  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
-  branch:           cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
-  belt.agentGuards: true
-  core.hooksPath:   scripts/git-hooks
-  marker.branch:          cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
-  marker.environment:     parcc
-  marker.canonical_path:  /vast/projects/posa/contact-rich-robot/belt_perception
-  marker.worktree_path:   /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
-  marker.base_commit:     a4b23833d614b43bcd440c4c2c9dc29eb919adec
-  marker.created_at:      2026-10-15T00:04:33Z
-  resolved.canonical:     /vast/projects/posa/contact-rich-robot/belt_perception
-  resolved.worktree_root: /vast/projects/posa/contact-rich-robot/worktrees
-  resolved.data_root:     /vast/projects/posa/contact-rich-robot/data
-  resolved.shared_root:   /vast/projects/posa/contact-rich-robot/data/belt_perception_shared
-  resolved.run_root:      /vast/projects/posa/contact-rich-robot/runs
-  resolved.scratch_root:  /vast/projects/posa/contact-rich-robot/scratch
-  resolved.transfer_root: /vast/projects/posa/contact-rich-robot/transfers
-  resolved.uv_cache_root: /vast/projects/posa/contact-rich-robot/uv/cache
-  worktree status:
-    ## cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
-  canonical status (/vast/projects/posa/contact-rich-robot/belt_perception):
-    ## main...origin/main
-
-Preflight passed. Safe to edit in this worktree.
-{
-  "dependency_paths": {
-    "gsplat": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat"
-    ],
-    "newton": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/third_party/newton/newton/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/third_party/newton/newton"
-    ],
-    "torch": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch"
-    ],
-    "warp": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp"
-    ]
-  },
-  "errors": [],
-  "expected": {
-    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv",
-    "profile": "parcc-e2e",
-    "schema_version": "belt-perception-parcc-environment-v1",
-    "source_commit": "5be01e74d32c3fca512e45ac4ace78d7ee131fff",
-    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
-  },
-  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/.belt_perception_environment.json",
-  "observed": {
-    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv",
-    "profile": "parcc-e2e",
-    "schema_version": "belt-perception-parcc-environment-v1",
-    "source_commit": "5be01e74d32c3fca512e45ac4ace78d7ee131fff",
-    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
-  },
-  "ok": true
-}
-[run_single_task] job_id=9053054 host=dgx028.cm.cluster
-[run_single_task] execution_environment=parcc profile=parcc-e2e
-[run_single_task] worktree=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014 commit=5be01e74d32c3fca512e45ac4ace78d7ee131fff uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv
-[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/photometric_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.err
-NVIDIA B200, GPU-197331cb-7d82-d9bd-b60e-b8bfee95a139
-[run_single_task] command=bash /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/launch/photometric_chain.sh 
-Warp 1.16.0 initialized:
-   CUDA Toolkit 12.9, Driver 13.0
-   Devices:
-     "cpu"      : "x86_64"
-     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
-   Kernel cache:
-     /vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/warp-cache/1.16.0
-Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 3278.03 ms  (compiled)
-Warp 1.16.0 initialized:
-   CUDA Toolkit 12.9, Driver 13.0
-   Devices:
-     "cpu"      : "x86_64"
-     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
-   Kernel cache:
-     /vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/warp-cache/1.16.0
-Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 29.92 ms  (cached)
-Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 22.29 ms  (cached)
-Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 17.84 ms  (cached)
-Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 20.14 ms  (cached)
-Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 17.91 ms  (cached)
-Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 19.40 ms  (cached)
-Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 388.39 ms  (compiled)
-Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 395.40 ms  (compiled)
-Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 432.31 ms  (compiled)
-Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 303.10 ms  (compiled)
-Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 384.76 ms  (compiled)
-Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 477.47 ms  (compiled)
-{
-  "status": "completed"
-}
-[photometric_chain] DP5 exit 0 at 2026-10-16T09:40:29Z; binding
-/vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D2_090-sloth_ep0/online/online_parent.json
-[photometric_chain] binding written at 2026-10-16T09:40:58Z
-[run_single_task] exit_status=0

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/boundary.json

@@ -1,423 +0,0 @@
-{
-  "schema_version": "p12_privileged_adam_checkpoint.v1",
-  "method_id": "deform360_e2_photometric_adam_v1",
-  "label": "boundary",
-  "executed_epochs": 500,
-  "score": null,
-  "best_score": 0.08707057683511617,
-  "patience_epochs": 0,
-  "window_start_score": null,
-  "leaf_names": [
-    "log_object_edge_stiffness",
-    "raw_ground_friction",
-    "raw_ground_restitution",
-    "log_controller_edge_stiffness"
-  ],
-  "lr": 0.001,
-  "betas": [
-    0.9,
-    0.99
-  ],
-  "eps": 1e-08,
-  "spring_y_clamp": [
-    0.0,
-    100000.0
-  ],
-  "ground_restitution_clamp": [
-    0.0,
-    1.0
-  ],
-  "ground_friction_clamp": [
-    0.0,
-    2.0
-  ],
-  "clamp_at_use_only": true,
-  "metric_role": "all_data_in_sample",
-  "arrays_file": "boundary_6cb795be4bab42ec8ebc9007a889d4f7.npz",
-  "optimizer_file": "boundary_6cb795be4bab42ec8ebc9007a889d4f7_optimizer.pt",
-  "arrays_sha256": "bd34f7da1ea56ceac6087d1529ebbc130de2dcdbcc5b3363c148d06bc3626ea0",
-  "optimizer_sha256": "c832c91ac6b5d6183ef756e28e0a67ae7ebb83bfc692c3eaae8bb74a40daa531",
-  "stage": "adam",
-  "completed_passes": 500,
-  "score_status": "unscored",
-  "adam_transition_batch_size": 1,
-  "cumulative_optimizer_updates": 84000,
-  "adam_update_count": 84000,
-  "score_selection_progress": {
-    "queue": "pass_snapshot_references_v2",
-    "submitted_count": 501,
-    "consumed_count": 500,
-    "last_submitted_update": 84000,
-    "last_consumed_update": 83832,
-    "pending": [
-      {
-        "reference": {
-          "source_update": 84000,
-          "completed_passes": 500,
-          "next_interval": 0,
-          "trained_intervals": 84000,
-          "snapshot": "pass_end_0500",
-          "candidate": true
-        },
-        "status": "registered"
-      }
-    ]
-  },
-  "best_source_update": 83496,
-  "pass_science": {
-    "completed_passes": 500,
-    "adam_schedule": "source_transition_v1",
-    "next_interval": 0,
-    "trained_intervals": 84000,
-    "adam_transition_batch_size": 1,
-    "optimizer_updates": 1,
-    "cumulative_optimizer_updates": 84000,
-    "updates": [
-      {
-        "batch_transition_count": 1,
-        "batch_weight_sum": 0.005952380952380952,
-        "lr": 0.001,
-        "leaf_metrics": {
-          "log_object_edge_stiffness": {
-            "gradient_l2": 0.00017395448230672628,
-            "update_l2": 0.05861193314194679
-          },
-          "raw_ground_friction": {
-            "gradient_l2": 0.0,
-            "update_l2": 0.0
-          },
-          "raw_ground_restitution": {
-            "gradient_l2": 0.0,
-            "update_l2": 0.0
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