diff --git a/.gitattributes b/.gitattributes index bf0ad496ad35c87ad96d1fd8dc28d3d7e539de05..e7ba0128bff8e72902dc99407e7765a09e9c11fd 100644 --- a/.gitattributes +++ b/.gitattributes @@ -52,3 +52,4 @@ processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/archives/members.js 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 +processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/README.md b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/README.md index aa0628e998fda12feefbe08c9f4c7b7890d59d67..0a69e2214507b6c588eb0082a6343eb2e0490af8 100644 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/README.md +++ b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/README.md @@ -12,7 +12,8 @@ Deform360 sloth episode 0 (U08c D2, frames 50-218) tracking fit: source CMA (100 | Labels | BEST adam/pass_end_0499, FINAL adam/pass_end_0500 | | Code revision(s) | `5be01e74d32c3fca512e45ac4ace78d7ee131fff`; dirty tree by stage: cma reported clean, adam reported clean | | Checkpoint rows | 611 (`checkpoints.tsv`) | -| Archived native records | 84,000 per-update records in 9 tar archives (`archives/members.json`, owner D16) | +| Containers | 86,838 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 | 86,838 files (1,644,920,224 B); the earlier record counted 2,838, omitting the per-update records it had archived (owner D16) | ## Stages diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_000001-010000.tar b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_000001-010000.tar deleted file mode 100644 index 991d9d447dd13b1391a03284543455ae1049bded..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_000001-010000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7426af89eff88e8b6d769b5f4fe09de3091296669e893d21241edc93888a75ba -size 30730240 diff --git 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a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_020001-030000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:172112f00e87ad37a03469617857d0550798b005176a4a92dffd6cdc5054e4b1 -size 30730240 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_030001-040000.tar b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_030001-040000.tar deleted file mode 100644 index 9bc5dc45b36245bd73e23992f28419bc175e5a2a..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_030001-040000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:363d9eaff510137b0cbded8bf1a136f0cf408de00096edbd0cf2c1a9907eb0be -size 30730240 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_040001-050000.tar b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_040001-050000.tar deleted file mode 100644 index 0e5196a0e3e5b2001e35c64379384df65e6bf058..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_040001-050000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:46ce3b9dba1d98475366e7cb6f1fbcf5101f99e0730818519b66fc5402f150b6 -size 30730240 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_050001-060000.tar b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_050001-060000.tar deleted file mode 100644 index 0a7b74d3090be87ed59b16f899875f09e0c50782..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_050001-060000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:989e85cdfff26b2f188f11237c7baa55175a4c41aa707cb4de308b054c4fff87 -size 30730240 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_060001-070000.tar b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_060001-070000.tar deleted file mode 100644 index e9e131df4f2f9311b9b3f36edc1704fba6a26ea6..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_060001-070000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8469d6f108bafe40235430eca60a93fc3efbaee0f4f7e63ec1842ff818399331 -size 30730240 diff --git 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a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/adam_epochs_updates_080001-090000.tar +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:76b32b9b8188220a6c1187b5704cf92bebf28a1e8af147b1205fa0b929d9320f -size 12298240 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/members.json b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/members.json deleted file mode 100644 index bb727590900b9a314c378454cfc64d6cef33b02e..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/archives/members.json +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:19b2c5d9c13ecc82dd9a08678b304bc8aa15b5b9fcfeee70c7f90b203bc1db67 -size 20656930 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index.json b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index.json new file mode 100644 index 0000000000000000000000000000000000000000..d9b37e55b552e1dcde7ff200cec8677777f03a89 --- /dev/null +++ b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3eb59a33702d423c087c1ac2a170aa8e45875d81dec972815882493fa583805 +size 28998296 diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.err b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.err deleted file mode 100644 index 2c3ff43a85df7a6ee68061e207de761c7d0ad9dd..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.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 1eef778fbe974798 -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-20261014_202754-1eef778fbe974798 -wandb: Run `wandb offline` to turn off syncing. -wandb: Syncing run DEFORM360_U08C_D2_sloth_ep0_50_218_tracking_20261014 -wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception -wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/1eef778fbe974798 -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_d2_sloth_ep0_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 20:28:34 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 952067 -wandb: deform/adam_progress/checkpoint_s 0.21378 -wandb: deform/adam_progress/completed_passes 500 -wandb: deform/adam_progress/elapsed_s 28093.01524 -wandb: deform/adam_progress/next_interval 0 -wandb: deform/adam_progress/partial_pass_intervals 0 -wandb: deform/adam_progress/pass_s 40.36027 -wandb: deform/adam_progress/successful_updates 84000 -wandb: deform/adam_progress/trained_intervals 84000 -wandb: deform/adam_progress/update_s 0.04093 -wandb: +295 ... -wandb: -wandb: 🚀 View run DEFORM360_U08C_D2_sloth_ep0_50_218_tracking_20261014 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/1eef778fbe974798 -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-20261014_202754-1eef778fbe974798/logs diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.out b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.out deleted file mode 100644 index e7c65dd5e8a77680b227c1fb4f627850fa8b00ab..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.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_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=9045994 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_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/tracking_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d2-tracking-20261014/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d2-tracking-20261014/slurm/u08c-d2-tracking_9045994.err -NVIDIA B200, GPU-667d51a9-8929-631b-8152-8078f2b4e629 -[run_single_task] command=env WANDB_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/runs WANDB_DATA_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/data WANDB_CACHE_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/cache WANDB_ARTIFACT_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/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_runs/U08b_D2_090-sloth_ep0/fit_inputs/inputs --output /vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D2_090-sloth_ep0/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_runs/U08c_D2_090-sloth_ep0/tracking/telemetry --observation-run-name DEFORM360_U08C_D2_sloth_ep0_50_218_tracking_20261014 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_U08C_D2_sloth_ep0_50_218_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-d2-tracking-20261014/warp-cache/1.16.0 -Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1577.10 ms (compiled) -Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1707.18 ms (compiled) -Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 365.48 ms (compiled) -Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 370.89 ms (compiled) -Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 300.85 ms (compiled) -Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 396.14 ms (compiled) -Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 772.73 ms (compiled) -Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 2641.03 ms (compiled) -(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:28:34 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-d2-tracking-20261014/warp-cache/1.16.0 -Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 22.68 ms (cached) -Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 21.48 ms (cached) -Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 22.73 ms (cached) -Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 20.03 ms (cached) -Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 23.70 ms (cached) -Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 19.97 ms (cached) -Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 25.18 ms (cached) -{ - "status": "completed_lifecycle", - "trajectory_id": "deform360_090-sloth_episode_0_aligned_50_218", - "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": 959, - "generation": 87, - "J_CMA": 0.0001248502080345913, - "J_obs": 0.00011917671774123544, - "physical_parameters": { - "spring_Y": 15865.596883505006, - "object_radius": 0.027072130293735813, - "object_max_neighbours": 12, - "controller_radius": 0.07997659268034256, - "controller_max_neighbours": 10, - "collide_elas": 0.22463302877462119, - "collide_fric": 0.8386481334086449, - "collide_object_elas": 0.49921444884984245, - "collide_object_fric": 1.3865648298403739, - "collision_dist": 0.015776663865255513, - "drag_damping": 17.96649077348466, - "dashpot_damping": 107.01989973979069 - }, - "object_edges": 50173, - "controller_edges": 300 - } - }, - "adam": { - "stopped_reason": "max_updates", - "cumulative_optimizer_updates": 84000, - "completed_passes": 500, - "trained_intervals": 84000, - "next_interval": 0, - "best_source_update": 83832, - "best_score": 4.7692582343404953e-05, - "final_score": 4.814265439888134e-05, - "score_cadence": "pass_end", - "scored_candidates": 501, - "scoring_intervals": 84168, - "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": 84000, - "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": 16.002650226000696 - }, - "run_id": "1eef778fbe974798", - "target": { - "entity": "serialexperimentsleon", - "project": "belt_perception", - "run_name": "DEFORM360_U08C_D2_sloth_ep0_50_218_tracking_20261014" - }, - "heavy_modules": [] - }, - "close": { - "status": "clean", - "exitcode": 0, - "backlog": { - "collector_producer_backlog_bytes": 0, - "journal_records": 106857, - "journal_bytes": 233928688, - "sdk_submitted_records": 106857, - "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/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/boundary.json b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/boundary.json deleted file mode 100644 index dcc55871677f2581cc0366a68617baeb85557f03..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-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": 4.7692582343404953e-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_78735f0713374114b3cd18ac1e63c137.npz", - "optimizer_file": "boundary_78735f0713374114b3cd18ac1e63c137_optimizer.pt", - "arrays_sha256": "61e23e4e65f51cabe0b199fba96e06f81b7f98b4d993b9958fd208eb7bd3a8ff", - "optimizer_sha256": "4d4545ed63933bb4997063096bcfd503f1fe0e571f4ba75ff03bba4c62cfa988", - "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": 83832, - "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": 5.653215566781e-07, - "update_l2": 0.013462744653224945 - }, - "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": 4.280965626435318e-08, - "update_l2": 0.0008519527036696672 - } - }, - "training_path_transitions": [ - { - "episode_id": "deform360_090-sloth_episode_0_aligned_50_218", - "transition_index": 167, - "loss": 7.771917444188148e-05, - "weight": 0.005952380952380952 - } - ], - "loss_role": "pre_update_training_path_not_checkpoint_score", - "observation_transition": { - "transition_index": 167, - "loss": 7.771917444188148e-05, - "observation_loss": 7.771917444188148e-05, - "chamfer": 4.185223951935768e-05, - "track": 3.5866934922523797e-05, - "acceleration": 0.0, - "visible_count": 7957, - "motion_valid_count": 7915, - "n_nodes": 7957, - "state_finite": true, - "frame_indices": [ - 217, - 218 - ], - "times_s": [ - 5.566666666666666, - 5.6 - ], - "finite": true, - "frozen_visible_denominator": 7957, - "frozen_motion_denominator": 7945 - }, - "completed_passes": 500, - "adam_update_count": 84000 - } - ], - "training_path_role": "pre-update transition losses; never checkpoint selection", - "wall_time_s": 0.04093260201625526 - }, - "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_78735f0713374114b3cd18ac1e63c137_rng.pt", - "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2", - "resume_boundary": "detached_observation_interval", - "next_pass": 501, - "next_interval": 0, - "next_adam_update": 84001, - "schedule_id": "source_transition_v1", - "adam_schedule": "source_transition_v1", - "source_cursor": { - "next_interval": 0, - "completed_passes": 500, - "trained_intervals": 84000, - "source_timestamp_s": 5.6, - "next_source_timestamp_s": 0.0, - "update_budget": 84000 - }, - "trained_intervals": 84000, - "source_timestamp_s": 5.6, - "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": -1.3260295391082764, - "median": 9.721081733703613, - "max": 11.530094146728516, - "finite_count": 50173, - "nonfinite_count": 0 - }, - "raw_ground_friction": { - "min": 2.005976915359497, - "median": 2.005976915359497, - "max": 2.005976915359497, - "finite_count": 1, - "nonfinite_count": 0 - }, - "raw_ground_restitution": { - "min": -0.0029794860165566206, - "median": -0.0029794860165566206, - "max": -0.0029794860165566206, - "finite_count": 1, - "nonfinite_count": 0 - }, - "log_controller_edge_stiffness": { - "min": 4.82401180267334, - "median": 9.389315605163574, - "max": 11.524574279785156, - "finite_count": 300, - "nonfinite_count": 0 - }, - "effective_object_edge_stiffness": { - "min": 0.26552945375442505, - "median": 16665.26171875, - "max": 100000.0, - "finite_count": 50173, - "nonfinite_count": 0 - }, - "object_edge_enabled": { - "min": 1.0, - "median": 1.0, - "max": 1.0, - "finite_count": 50173, - "nonfinite_count": 0 - }, - "object_edge_cap_mask": { - "min": 0.0, - "median": 0.0, - "max": 1.0, - "finite_count": 50173, - "nonfinite_count": 0 - }, - "effective_controller_edge_stiffness": { - "min": 124.46341705322266, - "median": 11960.126953125, - "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": 0.0, - "median": 0.0, - "max": 0.0, - "finite_count": 1, - "nonfinite_count": 0 - } - }, - "guard_affected_counts": { - "raw_ground_friction": 1, - "raw_ground_restitution": 1, - "object_edge_stiffness": 6009, - "controller_edge_stiffness": 66 - }, - "scored_object_model_file": "../cma_champion_model.json", - "fixed_model_inputs_file": "shared_fixed_model_inputs.json" -} diff --git a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/boundary_00d8049884014ac4ae7d30402efa0283.npz b/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/boundary_00d8049884014ac4ae7d30402efa0283.npz deleted file mode 100644 index 552cce8bb41c25a1584e32918bc4b02bf8f0a7f1..0000000000000000000000000000000000000000 --- a/processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/boundary_00d8049884014ac4ae7d30402efa0283.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid 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"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": 3758580, + "members": 501 + }, + "adam_state_bundle": { + "containers": 1, + "member_bytes": 472913848, + "members": 1506 + }, + "adam_update_rows": { + "containers": 1, + "member_bytes": 202408950, + "members": 84000 + }, + "cma_generation_state": { + "containers": 1, + "member_bytes": 685686516, + "members": 304 + }, + "frozen_score": { + "containers": 1, + "member_bytes": 61421764, + "members": 501 + }, + "frozen_score_arrays": { + "containers": 1, + "member_bytes": 59290754, + "members": 2 + }, + "logs": { + "containers": 1, + "member_bytes": 17209, + "members": 2 + }, + "records": { + "containers": 1, + "member_bytes": 158950661, + "members": 22 + } + }, + "containers": 8, + "encoded_bytes": 1702174720, + "index": "containers/index.json", + "index_sha256": "c3eb59a33702d423c087c1ac2a170aa8e45875d81dec972815882493fa583805", + "individual_payload_files": 2, + "member_bytes": 1644448282, + "members": 86838, + "native_files_correction": { + "counted": { + "bytes": 1644920224, + "files": 86838 + }, + "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": 1442511274, + "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 sloth episode 0 (U08c D2, frames 50-218) tracking fit: source CMA (100 generations) then clamp-at-use source Adam (500 passes, 84,000 updates); BEST pass_end_0499 (update 83,832).", "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": 1442511274, - "files": 2838 + "bytes": 1644920224, + "files": 86838 }, "native_reconciliation": { "included_by_category": {