processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking: payload batch 1/29

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_000001-010000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d135d76d58eecbeae21aa98a17806ed24417ab549174110003b2ee09379aa8
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_010001-020000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb249d0ff7dd082e0af9bac87db434899562136e714831c8f94076c8a94eb260
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_020001-030000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab65f218bf18991e38b1f0d7ba301f95fac7ccae2ebe03960c4bb41c3782276
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_030001-040000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d492960da45312bbce19f8f601d246ae628a93a6d9e4bd956df554c478a09666
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_040001-050000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24f6b6d2a7e7ecc5fde04a3a8557474728e5d591a1fb0c4a3da8bb93e7b45b40
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_050001-060000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:055c58cc5dcbe7eb728682d3166777a7ff632047e611565470ee5e886151797b
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_060001-070000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc90f8baaaf5ef3523131c05371b983e93e19920518e170e5bc157914155131
+size 30730240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/archives/adam_epochs_updates_070001-080000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7947c4e104cbe2ea5ea8948f19f7e6b06938c385dce2a4673a73c14b2a6432a3
+size 29194240

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-tracking_9324030.err

@@ -0,0 +1,45 @@
+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 e56ab825fb644b1d
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261022_160534-e56ab825fb644b1d
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/e56ab825fb644b1d
+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_d4_sloth_ep3_fit_parcc_20261022/.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 22 16:06:14 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 3281132
+wandb:           deform/adam_progress/checkpoint_s 0.32908
+wandb:       deform/adam_progress/completed_passes 500
+wandb:              deform/adam_progress/elapsed_s 40143.98125
+wandb:          deform/adam_progress/next_interval 0
+wandb: deform/adam_progress/partial_pass_intervals 0
+wandb:                 deform/adam_progress/pass_s 59.77555
+wandb:     deform/adam_progress/successful_updates 79500
+wandb:      deform/adam_progress/trained_intervals 79500
+wandb:               deform/adam_progress/update_s 0.07929
+wandb:                                        +295 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/e56ab825fb644b1d
+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-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261022_160534-e56ab825fb644b1d/logs

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-tracking_9324030.out

@@ -0,0 +1,226 @@
+{
+  "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_d4_sloth_ep3_fit_parcc_20261022",
+  "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_d4_sloth_ep3_fit_parcc_20261022
+  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022
+  branch:           cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
+  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_d4_sloth_ep3_fit_parcc_20261022
+  marker.base_commit:     50403540738fd45263b4b81c0ec1d1ab25d653f0
+  marker.created_at:      2026-10-22T14:49:06Z
+  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_d4_sloth_ep3_fit_parcc_20261022
+  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_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat"
+    ],
+    "newton": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton"
+    ],
+    "torch": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch"
+    ],
+    "warp": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp"
+    ]
+  },
+  "errors": [],
+  "expected": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
+    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
+  },
+  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/.belt_perception_environment.json",
+  "observed": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
+    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
+  },
+  "ok": true
+}
+[run_single_task] job_id=9324030 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_d4_sloth_ep3_fit_parcc_20261022 commit=8aba227de0e1a33bbfbf751ac353626637603a37 uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv
+[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/tracking_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-tracking-20261022/slurm/u08c-d4-tracking_9324030.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d4-tracking-20261022/slurm/u08c-d4-tracking_9324030.err
+NVIDIA B200, GPU-78d2f1b1-98f5-9b60-a973-94f775728223
+[run_single_task] command=env WANDB_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs WANDB_DATA_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/data WANDB_CACHE_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/cache WANDB_ARTIFACT_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/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_D4_090-sloth_ep3/fit_inputs/inputs --output /vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D4_090-sloth_ep3/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_D4_090-sloth_ep3/tracking/telemetry --observation-run-name DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 --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 3g.90gb" (89 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1663.84 ms  (compiled)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1141.10 ms  (compiled)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 461.40 ms  (compiled)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 280.66 ms  (compiled)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 345.26 ms  (compiled)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 428.99 ms  (compiled)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 776.20 ms  (compiled)
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 1971.93 ms  (compiled)
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Thu Oct 22 16:06:14 2026)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 3g.90gb" (89 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 23.31 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 22.23 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 21.66 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 23.07 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 19.34 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 24.74 ms  (cached)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 29.36 ms  (cached)
+{
+  "status": "completed_lifecycle",
+  "trajectory_id": "deform360_090-sloth_episode_3_aligned_45_204",
+  "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": 1086,
+      "generation": 98,
+      "J_CMA": 0.00011511082275376696,
+      "J_obs": 0.00011102074952891284,
+      "physical_parameters": {
+        "spring_Y": 1313.4894644009341,
+        "object_radius": 0.024635409600684485,
+        "object_max_neighbours": 45,
+        "controller_radius": 0.011180130961605651,
+        "controller_max_neighbours": 40,
+        "collide_elas": 0.8639818136398475,
+        "collide_fric": 1.9773554052679305,
+        "collide_object_elas": 0.8685799309199008,
+        "collide_object_fric": 1.522736527039257,
+        "collision_dist": 0.034614494320982694,
+        "drag_damping": 15.80029852806369,
+        "dashpot_damping": 137.10241594384635
+      },
+      "object_edges": 208310,
+      "controller_edges": 436
+    }
+  },
+  "adam": {
+    "stopped_reason": "max_updates",
+    "cumulative_optimizer_updates": 79500,
+    "completed_passes": 500,
+    "trained_intervals": 79500,
+    "next_interval": 0,
+    "best_source_update": 73458,
+    "best_score": 2.1710459398908933e-05,
+    "final_score": 4.458684142372928e-05,
+    "score_cadence": "pass_end",
+    "scored_candidates": 501,
+    "scoring_intervals": 79659,
+    "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": 79500,
+    "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": 16.376999515108764
+      },
+      "run_id": "e56ab825fb644b1d",
+      "target": {
+        "entity": "serialexperimentsleon",
+        "project": "belt_perception",
+        "run_name": "DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022"
+      },
+      "heavy_modules": []
+    },
+    "close": {
+      "status": "clean",
+      "exitcode": 0,
+      "backlog": {
+        "collector_producer_backlog_bytes": 0,
+        "journal_records": 106858,
+        "journal_bytes": 231157270,
+        "sdk_submitted_records": 106858,
+        "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

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary.json

@@ -0,0 +1,254 @@
+{
+  "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": 2.1710459398908933e-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_9853b825dc5e4bd2ab94afa96fed41d2.npz",
+  "optimizer_file": "boundary_9853b825dc5e4bd2ab94afa96fed41d2_optimizer.pt",
+  "arrays_sha256": "72e5f09ced4746a4e05530b049504ba96d46e02a239d9f2016198e118db710d3",
+  "optimizer_sha256": "99138fa1d3d381d361417f87d5ca7912078af22b6a9fba92b2576249ccd0c0d1",
+  "stage": "adam",
+  "completed_passes": 500,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 79500,
+  "adam_update_count": 79500,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 501,
+    "consumed_count": 500,
+    "last_submitted_update": 79500,
+    "last_consumed_update": 79341,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 79500,
+          "completed_passes": 500,
+          "next_interval": 0,
+          "trained_intervals": 79500,
+          "snapshot": "pass_end_0500",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 73458,
+  "pass_science": {
+    "completed_passes": 500,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 79500,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 79500,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.006289308176100629,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.7575245553634886e-07,
+            "update_l2": 0.009924021549522877
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 2.7560404305404518e-06,
+            "update_l2": 0.0013241767883300781
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 8.517979210864723e-08,
+            "update_l2": 0.001294903689995408
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
+            "transition_index": 158,
+            "loss": 4.110594454687089e-05,
+            "weight": 0.006289308176100629
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 158,
+          "loss": 4.110594454687089e-05,
+          "observation_loss": 4.110594454687089e-05,
+          "chamfer": 2.08680794457905e-05,
+          "track": 2.023786692006979e-05,
+          "acceleration": 0.0,
+          "visible_count": 8421,
+          "motion_valid_count": 8387,
+          "n_nodes": 8421,
+          "state_finite": true,
+          "frame_indices": [
+            203,
+            204
+          ],
+          "times_s": [
+            5.266666666666667,
+            5.3
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 8421,
+          "frozen_motion_denominator": 8388
+        },
+        "completed_passes": 500,
+        "adam_update_count": 79500
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.0792888910509646
+  },
+  "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_9853b825dc5e4bd2ab94afa96fed41d2_rng.pt",
+  "rng_sha256": "174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 501,
+  "next_interval": 0,
+  "next_adam_update": 79501,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 500,
+    "trained_intervals": 79500,
+    "source_timestamp_s": 5.3,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 79500
+  },
+  "trained_intervals": 79500,
+  "source_timestamp_s": 5.3,
+  "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": 2.2659730911254883,
+      "median": 7.206809043884277,
+      "max": 11.526196479797363,
+      "finite_count": 208310,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.0076630115509033,
+      "median": 2.0076630115509033,
+      "max": 2.0076630115509033,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": 0.08380380272865295,
+      "median": 0.08380380272865295,
+      "max": 0.08380380272865295,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 1.851363182067871,
+      "median": 5.363658905029297,
+      "max": 11.525084495544434,
+      "finite_count": 436,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 9.640501022338867,
+      "median": 1348.581787109375,
+      "max": 100000.0,
+      "finite_count": 208310,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 208310,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 208310,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 6.368494987487793,
+      "median": 213.50869750976562,
+      "max": 100000.0,
+      "finite_count": 436,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 436,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 436,
+      "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": 0.08380380272865295,
+      "median": 0.08380380272865295,
+      "max": 0.08380380272865295,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 0,
+    "object_edge_stiffness": 765,
+    "controller_edge_stiffness": 39
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_002250201e144315a0c3727171f25667.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b4863007221c980b8e45f8ba7f53a22a957fc9a820b8acf78068cb3daccc997
+size 1543979

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_002250201e144315a0c3727171f25667_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9922884aa6644063567967712dc703bdbf639057a2fa22e642e87fefe5789810
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_002250201e144315a0c3727171f25667_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_00667d8af9d6446a99657a08807d1fed.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44b3a59e7a010d3730a05ecf2db345a1d0075f6869426f5306e7a3ec2fbd807f
+size 1560238

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_00667d8af9d6446a99657a08807d1fed_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a021fcc578fc8dcbf323448fdccdf6b6f8454a380ac896b07ed3092ce4a05394
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_00667d8af9d6446a99657a08807d1fed_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0116a2361842496f8099111d776e2fd8.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e10c2fb59572e7a3b121db601421c46e033bcb44a40a28efa029818b2128bd5
+size 1574187

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0116a2361842496f8099111d776e2fd8_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f1789b8128d8e83091b8a1cda4698a21f7dcc0fbd76aa675812264644d1430
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0116a2361842496f8099111d776e2fd8_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0249f84fda8a4c79a230ec371d428547.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02cae7493955dd89f260207f0e99453275253cacea091e57a5f8fc8a65d917ba
+size 1558863

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0249f84fda8a4c79a230ec371d428547_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21903e586720fff12a5493a900d47dfb43ca2d0a11c2166d5cc9b540a4e20f31
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0249f84fda8a4c79a230ec371d428547_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_025a28d913204b2a832aa44ba057dda6.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e48f9a79b407ca20506e1646a3752b83801e8ddb5982c0bec1ad143e8fdd3ea
+size 1561905

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_025a28d913204b2a832aa44ba057dda6_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bacae3c2bcc2c90ab2897375a784965dd2815233a134fd9e846883c4392dab
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_025a28d913204b2a832aa44ba057dda6_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_02cf0b641d9244a18c8d3140d7606c77.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd81df389be8004a1269b9a2cfe2e16b825ab5007b50143de05c27f86e5b340c
+size 1575388

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_02cf0b641d9244a18c8d3140d7606c77_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f8e1c16d966985e443e9ea29319c25d3854b74a4b602382451e09e3b186155
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_02cf0b641d9244a18c8d3140d7606c77_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_040512deade244548d6815472da0f150.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7d22358a799ea828186e669fb6c3aa8673f53d0f05dfd4fb2203c4229045a0
+size 1505702

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_040512deade244548d6815472da0f150_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d461df1ea01fa4659d012e62a10217085194ef791ce1c81092aecad4cb0172
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_040512deade244548d6815472da0f150_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_04169e55239a489f8475e69a85ed386e.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8de689747e71e7ce86072244766911125fcffd8f27cd3d2b98f571c4d5db14
+size 1575789

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_04169e55239a489f8475e69a85ed386e_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ca1c9b86bfae759b524b343dc7af92fd2b1041a1b06469df9a58efc8ebe2f8
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_04169e55239a489f8475e69a85ed386e_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_042c4f7ea70f4f27a826ad9709a39bdf.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a3bfe0a6d7f8a2674f6010dd8ade7ee4bf84502cbb21e4f3dc60acccf6926f
+size 1560586

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_042c4f7ea70f4f27a826ad9709a39bdf_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6030e5cd6b7fac9ccb50c2f35298a9ac616d5e9ccbcee560e0fcbec3637ffc
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_042c4f7ea70f4f27a826ad9709a39bdf_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_05da45daae7741e6ad3ee486c0ff8d6a.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ebbcdf3f3fe4d6ac654c677b6d7dd1bf85ed93f3f2ea2ddcd3ee73eeea623c3
+size 1489527

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_05da45daae7741e6ad3ee486c0ff8d6a_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e8c150beae731a9816381ec7744bab2a64961d74a036e271380e57cec1858e
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_05da45daae7741e6ad3ee486c0ff8d6a_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_06176ed5d163480190c1a7c8ddcab05c.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be59807d3c4e1595d06ab2678f2343eecf6966b5245d941bdf3d964b1a7f42a4
+size 1573200

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_06176ed5d163480190c1a7c8ddcab05c_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8cec34aa8309483c286ff60f983fc225da880156123c9a2f05934c05a7e6259
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_06176ed5d163480190c1a7c8ddcab05c_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0625479744c540659bf5c8e665f3fa23.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb62d84ca3541fe656d945e979101b106a731cbc5e9e88475c6ddef735f5c079
+size 1543330

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0625479744c540659bf5c8e665f3fa23_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bb35ad51b03b2c96e49c4e3e160705b000b9d8ddd9e2a2c16ea2312d08dee93
+size 1674983

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0625479744c540659bf5c8e665f3fa23_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174fd7cb7d937acfc9fffc3e3214fc5717796fa50d603c3da330db78d35bd525
+size 14741

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary_0651df5f1cf8443fab3954dac7e769e2.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f981f67dae9046ffaf8d414b8761fd20ebb91b7a907179361c62d0b3fbb7f550
+size 1291103