diff --git a/.gitattributes b/.gitattributes index e8cbcfe4d7561fa2953746932cdc1d12fdf940fb..bf0ad496ad35c87ad96d1fd8dc28d3d7e539de05 100644 --- a/.gitattributes +++ b/.gitattributes @@ -51,3 +51,4 @@ processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/archives/members.json processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/archives/members.json filter=lfs diff=lfs merge=lfs -text processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/archives/members.json filter=lfs diff=lfs merge=lfs -text processed/001-rope/episode_0/runs/deform-rope-ep0-e2/containers/index.json filter=lfs diff=lfs merge=lfs -text +processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/README.md b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/README.md index 85b3ce093202471213eb1a077ffaa19264d37817..30c9258495a342aef10ae7e352768c1fc8605ca5 100644 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/README.md +++ b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/README.md @@ -12,7 +12,8 @@ Deform360 rope episode 2 (U08c D1, frames 64-230) tracking fit: source CMA (100 | Labels | BEST adam/pass_end_0491, FINAL adam/pass_end_0500 | | Code revision(s) | `4915ddc8b0c0737e9b48b0238522597694b7dd7b`; dirty tree by stage: cma reported clean, adam reported clean | | Checkpoint rows | 611 (`checkpoints.tsv`) | -| Archived native records | 83,000 per-update records in 9 tar archives (`archives/members.json`, owner D16) | +| Containers | 85,838 native and evidence files packed in 8 uncompressed tar containers by category (adam_pass_record 1, adam_state_bundle 1, adam_update_rows 1, cma_generation_state 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 | 85,838 files (752,085,952 B); the earlier record counted 2,838, omitting the per-update records it had archived (owner D16) | ## Stages diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_000001-010000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_000001-010000.tar deleted file mode 100644 index f8e11aba8cba8891361241ab5ea4ce58008e337f..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_000001-010000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:291e2ae01d2f353861be45dca2ca68b51fed96236a59cdc393590b23991dd8db -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_010001-020000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_010001-020000.tar deleted file mode 100644 index f6302bd82bd1ecf12cce8af0add158cf415dfe30..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_010001-020000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:88fb9f5593366b9c5118b7b2118f0a903104dfeb110bf1ae1d43c06e0b1ee138 -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_020001-030000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_020001-030000.tar deleted file mode 100644 index 4a43c1434e8008293a751ff7774fd47463020d11..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_020001-030000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6dd65beed21701aa6ce79b734053ac1ca3b3a21d5c4f342e258ef624f0fe373b -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_030001-040000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_030001-040000.tar deleted file mode 100644 index 2cc7d3d6d353563ce5d75db6de778f7488445e02..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_030001-040000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3fc96c874e5b46715e9b128e880745673e454ba4b00ab71aee43791ef7b59ebd -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_040001-050000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_040001-050000.tar deleted file mode 100644 index 5ef13d62befe4c63ec93738d3e3f237c46b4e504..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_040001-050000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e8b47515eb47fd282de92db82452bf89773f738ff49de9ee283598c23ebc0abc -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_050001-060000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_050001-060000.tar deleted file mode 100644 index 44eaf1ccb0bdc5567ae0540624eada9ffa611731..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_050001-060000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:025f1c9722f7fbc8e76275b4d49d30facec931d0b7f70f0c6f6b927ed6594c32 -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_060001-070000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_060001-070000.tar deleted file mode 100644 index b0b9adb25d6560aa601fcec2ed3661e1329645f5..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_060001-070000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:caa6992b49831eaf616b9be261e5ccab3d7b34fbdb619e06b57ad4430a931005 -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_070001-080000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_070001-080000.tar deleted file mode 100644 index 389255f100b05c88d7dea3002fa212a9daf66872..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_070001-080000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a243f8b31c2441fe5389983686a0b77ed77874eed15fe204f034c49063a2bf0e -size 30730240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_080001-090000.tar b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_080001-090000.tar deleted file mode 100644 index 9677044b9079742792a021599355ebd4b5819da7..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_080001-090000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:49e78edd2b5b011a7ba51f7cbc76f7b4e0f8cb983c1aa43bf44b30c034d43cab -size 9226240 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/members.json b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/members.json deleted file mode 100644 index beb4688f0476e999cd960a18e859de2d6b84d271..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/members.json +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:87cd7411eaf0a0634c54d6b17b1b78892bed0e79851aa612e62841eaeb8a17aa -size 20410928 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/containers/index.json b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/containers/index.json new file mode 100644 index 0000000000000000000000000000000000000000..ae0987a6bad45aaf4165a6a68ede0b952eba00e7 --- /dev/null +++ b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/containers/index.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5685f2b3b094790ebc92ec1a95904ee0f74cb28a7b16e75547919d87b4f2a444 +size 28663249 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err deleted file mode 100644 index e2faf576795872eafb436f11acfdb7421257732c..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err +++ /dev/null @@ -1,45 +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 80ea68ecb3e74761 -wandb: Tracking run with wandb version 0.28.2 -wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/runs/wandb/run-20261014_202408-80ea68ecb3e74761 -wandb: Run `wandb offline` to turn off syncing. -wandb: Syncing run DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 -wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception -wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/80ea68ecb3e74761 -wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files. -/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: seed=42 will never be used (seed is only used if option 'randn' is np.random.randn) (time=Oct 14 20:24:44 2026) - warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) + -wandb: updating run metadata -wandb: uploading wandb-summary.json; uploading config.yaml -wandb: -wandb: Run history: -wandb: deform/adam_progress/checkpoint_bytes ▁▁▃▃▄▄▄▅▆▆▆▆▆▇▇▇▇▇▇█▇███████▇███████████ -wandb: deform/adam_progress/checkpoint_s ▃▂▄▃▄▂▃▂▁▁▂▂▃▂▆▁▄▃█▂▃▂▃▃▂▂▂▁▂▁▄▁▂▂▁▂▂▄▃▃ -wandb: deform/adam_progress/completed_passes ▁▁▁▁▂▂▂▂▂▂▂▃▃▃▃▃▃▄▄▄▄▄▄▄▅▅▅▆▆▆▇▇▇▇▇▇▇███ -wandb: deform/adam_progress/elapsed_s ▁▁▁▁▁▂▂▂▂▂▃▃▃▃▃▃▃▄▄▄▅▅▅▆▆▆▆▆▆▆▆▇▇▇▇▇████ -wandb: deform/adam_progress/next_interval ▇▅▅▇█▆▇▃▂▃▆▇▄▅▆█▃▂▆▂▇▇█▁▅▄▂▄▁▇▄█▃▄▇▄█▄▆▄ -wandb: deform/adam_progress/partial_pass_intervals ▁▃▁▃▅▂▂▄▇█▇▃▅▄▃▃▆▂█▂▁▄▆▁▆▃▃▇▄▂▇▇▆▂▆▄▃▁▄▄ -wandb: deform/adam_progress/pass_s ▂▁▂▂▂▃▃▂▁▃▂▃▄▄▄▅▆█▆▆▆▅▅▄▃▃▃▄▃▃▄▃▂▁▂▃▃▃▄▂ -wandb: deform/adam_progress/successful_updates ▁▁▁▂▂▃▃▃▃▃▃▃▃▃▄▄▄▄▄▄▄▄▅▅▅▅▅▅▅▆▆▆▇▇▇▇▇███ -wandb: deform/adam_progress/trained_intervals ▁▁▁▁▁▂▂▂▂▃▃▃▃▃▃▄▄▄▄▄▅▅▅▆▆▆▆▇▇▇▇▇▇▇▇▇▇▇██ -wandb: deform/adam_progress/update_s ▂▂▁▁▁▁█▁▁▁▁▁▁▁▁▁▁▂▁▁▁▁▃▁▁▂▁▁▁▁▁▁▁▁▃▁▂▁▁▂ -wandb: +292 ... -wandb: -wandb: Run summary: -wandb: deform/adam_progress/checkpoint_bytes 270603 -wandb: deform/adam_progress/checkpoint_s 0.14815 -wandb: deform/adam_progress/completed_passes 500 -wandb: deform/adam_progress/next_interval 0 -wandb: deform/adam_progress/partial_pass_intervals 0 -wandb: deform/adam_progress/pass_s 32.63948 -wandb: deform/adam_progress/successful_updates 83000 -wandb: deform/adam_progress/trained_intervals 83000 -wandb: deform/adam_progress/update_s 0.03413 -wandb: deform/adam_update/C 6e-05 -wandb: +293 ... -wandb: -wandb: 🚀 View run DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/80ea68ecb3e74761 -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/tool_state/wandb/u08c_d1/runs/wandb/run-20261014_202408-80ea68ecb3e74761/logs diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out deleted file mode 100644 index 436c89dc26ae95e1e67b65b243d11bfa0c2438fa..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out +++ /dev/null @@ -1,226 +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_d1_rope_ep2_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_d1_rope_ep2_fit_parcc_20261014 - git_root: /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014 - branch: cursor/u08c_d1_rope_ep2_fit_parcc_20261014 - belt.agentGuards: true - core.hooksPath: scripts/git-hooks - marker.branch: cursor/u08c_d1_rope_ep2_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_d1_rope_ep2_fit_parcc_20261014 - marker.base_commit: a4b23833d614b43bcd440c4c2c9dc29eb919adec - marker.created_at: 2026-10-15T00:01:30Z - 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_d1_rope_ep2_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_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat/__init__.py", - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat" - ], - "newton": [ - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/third_party/newton/newton/__init__.py", - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/third_party/newton/newton" - ], - "torch": [ - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch/__init__.py", - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch" - ], - "warp": [ - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp/__init__.py", - "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_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_d1_rope_ep2_fit_parcc_20261014/.venv", - "profile": "parcc-e2e", - "schema_version": "belt-perception-parcc-environment-v1", - "source_commit": "4915ddc8b0c0737e9b48b0238522597694b7dd7b", - "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef" - }, - "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/.belt_perception_environment.json", - "observed": { - "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv", - "profile": "parcc-e2e", - "schema_version": "belt-perception-parcc-environment-v1", - "source_commit": "4915ddc8b0c0737e9b48b0238522597694b7dd7b", - "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef" - }, - "ok": true -} -[run_single_task] job_id=9045990 host=dgx029.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_d1_rope_ep2_fit_parcc_20261014 commit=4915ddc8b0c0737e9b48b0238522597694b7dd7b uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv -[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c_d1_rope_ep2_20261014/tracking_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out,/vast/projects/posa/contact-rich-robot/runs/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err -NVIDIA B200, GPU-d7504423-6265-a263-ee68-47a8c2600440 -[run_single_task] command=env WANDB_MODE=online WANDB_DIR=/vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/runs WANDB_DATA_DIR=/vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/data WANDB_CACHE_DIR=/vast/projects/posa/contact-rich-robot/tool_cache/wandb/u08c_d1/cache WANDB_ARTIFACT_DIR=/vast/projects/posa/contact-rich-robot/tool_cache/wandb/u08c_d1/artifacts python scripts/hpc/with_wandb_auth.py --wandb-key-file /vast/projects/posa/contact-rich-robot/private/leonmkim/wandb-key -- python scripts/run_observation_reference_fit.py fit --inputs /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/inputs/fit_inputs --output /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/tracking/fit --device cuda:0 --execution-mode atomic_captured --max-cma-generations 100 --adam-passes 500 --observation-mode online --observation-root /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/tracking/telemetry --observation-run-name DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 --observation-approved-entity serialexperimentsleon --observation-approved-project belt_perception --observation-approved-payload DEFORM360_scalars_guide -Warp 1.16.0 initialized: - CUDA Toolkit 12.9, Driver 13.0 - Devices: - "cpu" : "x86_64" - "cuda:0" : "NVIDIA B200 MIG 4g.90gb" (89 GiB, sm_100, mempool enabled) - Kernel cache: - /vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/warp-cache/1.16.0 -Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1439.67 ms (compiled) -Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1430.16 ms (compiled) -Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 356.13 ms (compiled) -Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 278.89 ms (compiled) -Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 324.00 ms (compiled) -Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 458.86 ms (compiled) -Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 773.02 ms (compiled) -Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 2014.09 ms (compiled) -(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:24:44 2026) -Warp 1.16.0 initialized: - CUDA Toolkit 12.9, Driver 13.0 - Devices: - "cpu" : "x86_64" - "cuda:0" : "NVIDIA B200 MIG 4g.90gb" (89 GiB, sm_100, mempool enabled) - Kernel cache: - /vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/warp-cache/1.16.0 -Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 27.57 ms (cached) -Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 20.17 ms (cached) -Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 23.18 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 18.66 ms (cached) -Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 17.29 ms (cached) -Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 28.08 ms (cached) -{ - "status": "completed_lifecycle", - "trajectory_id": "deform360_001-rope_episode_2_aligned_64_230", - "cma": { - "completed_generations": 100, - "completed_evaluations": 1100, - "stopped_reason": "max_generations", - "native_stop_reasons": {}, - "hard_generation_cap_reached": true, - "generation_cap": 100, - "champion": { - "global_serial_ask_index": 1027, - "generation": 93, - "J_CMA": 0.00026867073606206166, - "J_obs": 0.0002652953449654318, - "physical_parameters": { - "spring_Y": 1186.1499897257813, - "object_radius": 0.019001705534000435, - "object_max_neighbours": 19, - "controller_radius": 0.058835908009766937, - "controller_max_neighbours": 10, - "collide_elas": 0.6951579367521333, - "collide_fric": 1.9949841367247705, - "collide_object_elas": 0.04981464877510002, - "collide_object_fric": 0.8622385374164907, - "collision_dist": 0.015550052066711485, - "drag_damping": 15.765522860141708, - "dashpot_damping": 199.55372791644191 - }, - "object_edges": 13559, - "controller_edges": 300 - } - }, - "adam": { - "stopped_reason": "max_updates", - "cumulative_optimizer_updates": 83000, - "completed_passes": 500, - "trained_intervals": 83000, - "next_interval": 0, - "best_source_update": 81506, - "best_score": 9.522169138250889e-05, - "final_score": 9.844203991469182e-05, - "score_cadence": "pass_end", - "scored_candidates": 501, - "scoring_intervals": 83166, - "async_scoring": { - "queue": "pass_snapshot_references_v2", - "submitted": 501, - "consumed": 501, - "reused_persisted_results": 0, - "evaluated_this_process": 501, - "max_pending_references": 1, - "consumed_during_training_this_process": 500, - "nonfinite_scored_candidates": [], - "final_snapshot": "pass_end_0500" - }, - "pass_snapshots": 501, - "update_budget": 83000, - "partial_final_pass": false - }, - "telemetry": { - "readiness": { - "status": "confirmed", - "probe_record": 0, - "readiness": { - "record": 0, - "step": 0, - "status": "confirmed", - "remote_run_id_matches": true, - "remote_last_step": 0, - "row_readback": "matched", - "mismatched_keys": [], - "config_readback": true, - "elapsed_s": 15.85050424397923 - }, - "run_id": "80ea68ecb3e74761", - "target": { - "entity": "serialexperimentsleon", - "project": "belt_perception", - "run_name": "DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014" - }, - "heavy_modules": [] - }, - "close": { - "status": "clean", - "exitcode": 0, - "backlog": { - "collector_producer_backlog_bytes": 0, - "journal_records": 103434, - "journal_bytes": 227968056, - "sdk_submitted_records": 103434, - "publisher_backlog_records": 0, - "uncertain_records": 0, - "delivery": "submitted" - }, - "collection": { - "hook_errors": {}, - "missing_parameter_samples": [], - "unreported_parameter_gaps": [], - "producer_errors": { - "1": 0 - } - }, - "fit": "completed", - "producer_errors": 0, - "producer_last_error": null - } - } -} -[run_single_task] exit_status=0 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary.json b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary.json deleted file mode 100644 index aea8d2dcd979d5c135fd0a99192e80f5698d24dc..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary.json +++ /dev/null @@ -1,254 +0,0 @@ -{ - "schema_version": "p12_privileged_adam_checkpoint.v1", - "method_id": "prepared_observation_source_cma_then_source_adam_v1", - "label": "boundary", - "executed_epochs": 500, - "score": null, - "best_score": 9.522169138250889e-05, - "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_a9fd1ca3b5d342daab7f169098c771d1.npz", - "optimizer_file": "boundary_a9fd1ca3b5d342daab7f169098c771d1_optimizer.pt", - "arrays_sha256": "df1a4db0dedbbfc4a69feb5dfad4d6218a9471547baf351dcf4325a943345673", - "optimizer_sha256": "d38b2357e7a95071130f6ad4d7e837716f6ce358098cac6c5733154e745ed69b", - "stage": "adam", - "completed_passes": 500, - "score_status": "unscored", - "adam_transition_batch_size": 1, - "cumulative_optimizer_updates": 83000, - "adam_update_count": 83000, - "score_selection_progress": { - "queue": "pass_snapshot_references_v2", - "submitted_count": 501, - "consumed_count": 500, - "last_submitted_update": 83000, - "last_consumed_update": 82834, - "pending": [ - { - "reference": { - "source_update": 83000, - "completed_passes": 500, - "next_interval": 0, - "trained_intervals": 83000, - "snapshot": "pass_end_0500", - "candidate": true - }, - "status": "registered" - } - ] - }, - "best_source_update": 81506, - "pass_science": { - "completed_passes": 500, - "adam_schedule": "source_transition_v1", - "next_interval": 0, - "trained_intervals": 83000, - "adam_transition_batch_size": 1, - "optimizer_updates": 1, - "cumulative_optimizer_updates": 83000, - "updates": [ - { - "batch_transition_count": 1, - "batch_weight_sum": 0.006024096385542169, - "lr": 0.001, - "leaf_metrics": { - "log_object_edge_stiffness": { - "gradient_l2": 1.0444044846735778e-06, - "update_l2": 0.00818131398409605 - }, - "raw_ground_friction": { - "gradient_l2": 0.0, - "update_l2": 0.0 - }, - "raw_ground_restitution": { - "gradient_l2": 0.0, - "update_l2": 0.0 - }, - "log_controller_edge_stiffness": { - "gradient_l2": 4.0875983131627436e-07, - "update_l2": 0.0024015612434595823 - } - }, - "training_path_transitions": [ - { - "episode_id": "deform360_001-rope_episode_2_aligned_64_230", - "transition_index": 165, - "loss": 0.00012046012125210837, - "weight": 0.006024096385542169 - } - ], - "loss_role": "pre_update_training_path_not_checkpoint_score", - "observation_transition": { - "transition_index": 165, - "loss": 0.00012046012125210837, - "observation_loss": 0.00012046012125210837, - "chamfer": 5.721351772081107e-05, - "track": 6.32466035312973e-05, - "acceleration": 0.0, - "visible_count": 1327, - "motion_valid_count": 1327, - "n_nodes": 1327, - "state_finite": true, - "frame_indices": [ - 229, - 230 - ], - "times_s": [ - 5.5, - 5.533333333333333 - ], - "finite": true, - "frozen_visible_denominator": 1327, - "frozen_motion_denominator": 1327 - }, - "completed_passes": 500, - "adam_update_count": 83000 - } - ], - "training_path_role": "pre-update transition losses; never checkpoint selection", - "wall_time_s": 0.034130993066355586 - }, - "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain", - "execution_mode": "atomic_captured", - "rng_file": "boundary_a9fd1ca3b5d342daab7f169098c771d1_rng.pt", - "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5", - "resume_boundary": "detached_observation_interval", - "next_pass": 501, - "next_interval": 0, - "next_adam_update": 83001, - "schedule_id": "source_transition_v1", - "adam_schedule": "source_transition_v1", - "source_cursor": { - "next_interval": 0, - "completed_passes": 500, - "trained_intervals": 83000, - "source_timestamp_s": 5.533333333333333, - "next_source_timestamp_s": 0.0, - "update_budget": 83000 - }, - "trained_intervals": 83000, - "source_timestamp_s": 5.533333333333333, - "archive_axis": "optimizer_update", - "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1", - "collision_distance_m": null, - "parameter_summary": { - "log_object_edge_stiffness": { - "min": -0.6702662110328674, - "median": 7.346822261810303, - "max": 11.530586242675781, - "finite_count": 13559, - "nonfinite_count": 0 - }, - "raw_ground_friction": { - "min": 2.0090935230255127, - "median": 2.0090935230255127, - "max": 2.0090935230255127, - "finite_count": 1, - "nonfinite_count": 0 - }, - "raw_ground_restitution": { - "min": 1.0052064657211304, - "median": 1.0052064657211304, - "max": 1.0052064657211304, - "finite_count": 1, - "nonfinite_count": 0 - }, - "log_controller_edge_stiffness": { - "min": -2.2000229358673096, - "median": 5.331779956817627, - "max": 11.5305757522583, - "finite_count": 300, - "nonfinite_count": 0 - }, - "effective_object_edge_stiffness": { - "min": 0.5115724205970764, - "median": 1551.2591552734375, - "max": 100000.0, - "finite_count": 13559, - "nonfinite_count": 0 - }, - "object_edge_enabled": { - "min": 1.0, - "median": 1.0, - "max": 1.0, - "finite_count": 13559, - "nonfinite_count": 0 - }, - "object_edge_cap_mask": { - "min": 0.0, - "median": 0.0, - "max": 1.0, - "finite_count": 13559, - "nonfinite_count": 0 - }, - "effective_controller_edge_stiffness": { - "min": 0.1108006164431572, - "median": 206.8065185546875, - "max": 100000.0, - "finite_count": 300, - "nonfinite_count": 0 - }, - "controller_edge_enabled": { - "min": 1.0, - "median": 1.0, - "max": 1.0, - "finite_count": 300, - "nonfinite_count": 0 - }, - "controller_edge_cap_mask": { - "min": 0.0, - "median": 0.0, - "max": 1.0, - "finite_count": 300, - "nonfinite_count": 0 - }, - "effective_ground_friction": { - "min": 2.0, - "median": 2.0, - "max": 2.0, - "finite_count": 1, - "nonfinite_count": 0 - }, - "effective_ground_restitution": { - "min": 1.0, - "median": 1.0, - 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index 6a714de59c72306d8c0eb45863df12bb38643649..0000000000000000000000000000000000000000 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_a3490b87e5d1421a8e1c38d876a91d5c_rng.pt +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5 -size 14805 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/run.json b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/run.json index b3971b1b48da0206358b651ba3dc1dd598113a78..7f7a06f5949bf002e69b986c8c3e56fcc43b5b29 100644 --- a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/run.json +++ b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/run.json @@ -25,13 +25,6 @@ "role": "resume boundary" } ], - "archived_native_records": { - "archives": 9, - "index": "archives/members.json", - "member_bytes": 199938308, - "members": 83000, - "rule": "Owner decision D16 (2026-10-30): the Deform360 per-update records native/adam_epochs/update_*_updates.json are published inside these uncompressed tar archives, 10,000 update numbers per archive, because the Hub allows at most 10,000 entries per folder. Member bytes are unchanged; extract each member to /native/ to restore the native layout (scripts/phystwin_publish.py fetch --all-checkpoints does this)." - }, "capabilities": { "continuation_under_projected_update": "not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics", "extend_completed_budget": "not supported: the native protocols refuse to extend a finished run's horizon", @@ -92,6 +85,71 @@ } } }, + "containers": { + "categories": { + "adam_pass_record": { + "containers": 1, + "member_bytes": 3770872, + "members": 501 + }, + "adam_state_bundle": { + "containers": 1, + "member_bytes": 131330098, + "members": 1506 + }, + "adam_update_rows": { + "containers": 1, + "member_bytes": 199938308, + "members": 83000 + }, + "cma_generation_state": { + "containers": 1, + "member_bytes": 288277783, + "members": 304 + }, + "frozen_score": { + "containers": 1, + "member_bytes": 60758844, + "members": 501 + }, + "frozen_score_arrays": { + "containers": 1, + "member_bytes": 9891645, + "members": 2 + }, + "logs": { + "containers": 1, + "member_bytes": 17184, + "members": 2 + }, + "records": { + "containers": 1, + "member_bytes": 57634645, + "members": 22 + } + }, + "containers": 8, + "encoded_bytes": 808673280, + "index": "containers/index.json", + "index_sha256": "5685f2b3b094790ebc92ec1a95904ee0f74cb28a7b16e75547919d87b4f2a444", + "individual_payload_files": 2, + "member_bytes": 751619379, + "members": 85838, + "native_files_correction": { + "counted": { + "bytes": 752085952, + "files": 85838 + }, + "reason": "the earlier native_files count was taken after the owner D16 per-update records were packed into member archives, so it omitted them; native_files now counts every logical native file. No native file or digest changed.", + "recorded_before_relayout": { + "bytes": 552147644, + "files": 2838 + } + }, + "package_files": 15, + "rule": "Scaling plan \u00a73.2 (owner D30, 2026-11-01): run.json, checkpoints.tsv, dependencies.json, README.md, this index, every BEST/FINAL export component (preflight copies included) and every file whose own container would exceed 1 GiB stay individual files. Other files under native/, evidence/ and inputs/ are packed in path order into uncompressed USTAR containers of at most 1 GiB encoded size per category: the per-step history categories (CMA candidates and generation state, Adam snapshots, continuations, update rows, pass records and scores), 'logs' (.log/.txt/.md/.out/.err) and 'records' (everything else). Member bytes and logical paths are unchanged; each member's data offset is listed, and scripts/phystwin_publish.py fetch restores the native layout.", + "schema": "hf_publication_containers_v2" + }, "description": "Deform360 rope episode 2 (U08c D1, frames 64-230) tracking fit: source CMA (100 generations) then clamp-at-use source Adam (500 passes, 83,000 updates); BEST pass_end_0491 (update 81,506).", "environment": {}, "evidence_files": [ @@ -144,8 +202,8 @@ "pycma strategy state is retained only for the last two generations (cma_generations/generation_098_backend.pkl, cma_generations/generation_099_backend.pkl); the writer did not keep earlier strategy pickles, so earlier generations cannot be resumed from saved strategy state" ], "native_files": { - "bytes": 552147644, - "files": 2838 + "bytes": 752085952, + "files": 85838 }, "native_reconciliation": { "included_by_category": {