processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking: payload batch 19/29

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0281.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0281",
+  "executed_epochs": 281,
+  "score": null,
+  "best_score": 5.509879035040891e-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_e054861b8b314d2e89ab8e1256cb6b8f.npz",
+  "optimizer_file": "boundary_e054861b8b314d2e89ab8e1256cb6b8f_optimizer.pt",
+  "arrays_sha256": "e0ca12a3035a648b3160bf6acf4731432b948c6fdd5a14f4ec501d8abac9bec3",
+  "optimizer_sha256": "6b406f70eb82abd26efed21a8e81e4e0c51fb0d11f388b10a330e4e83833ccc8",
+  "stage": "adam",
+  "completed_passes": 281,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47208,
+  "adam_update_count": 47208,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 282,
+    "consumed_count": 281,
+    "last_submitted_update": 47208,
+    "last_consumed_update": 47040,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47208,
+          "completed_passes": 281,
+          "next_interval": 0,
+          "trained_intervals": 47208,
+          "snapshot": "pass_end_0281",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 281,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47208,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47208,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.029095859754307e-07,
+            "update_l2": 0.014107748866081238
+          },
+          "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": 4.410314247138558e-08,
+            "update_l2": 0.0009964549681171775
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.561370825394988e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.561370825394988e-05,
+          "observation_loss": 9.561370825394988e-05,
+          "chamfer": 5.317918839864433e-05,
+          "track": 4.2434516217326745e-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": 281,
+        "adam_update_count": 47208
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04147462290711701
+  },
+  "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_e054861b8b314d2e89ab8e1256cb6b8f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 282,
+  "next_interval": 0,
+  "next_adam_update": 47209,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 281,
+    "trained_intervals": 47208,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47208,
+  "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": -0.7133956551551819,
+      "median": 9.70082950592041,
+      "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": 5.370716571807861,
+      "median": 9.534253120422363,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4899775981903076,
+      "median": 16331.1484375,
+      "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": 215.0168914794922,
+      "median": 13825.755859375,
+      "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": 3868,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0282.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0282",
+  "executed_epochs": 282,
+  "score": null,
+  "best_score": 5.509879035040891e-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_1852d8730d194fe1b56874e975b6309f.npz",
+  "optimizer_file": "boundary_1852d8730d194fe1b56874e975b6309f_optimizer.pt",
+  "arrays_sha256": "8c035b11a11b13ffba698e13acad956f44d5869cc25efa9840db47f48d8e408b",
+  "optimizer_sha256": "dc9e4dc1e72541856631ea38a059e3dcc3a164073689fed13feb1be10505dc01",
+  "stage": "adam",
+  "completed_passes": 282,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47376,
+  "adam_update_count": 47376,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 283,
+    "consumed_count": 282,
+    "last_submitted_update": 47376,
+    "last_consumed_update": 47208,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47376,
+          "completed_passes": 282,
+          "next_interval": 0,
+          "trained_intervals": 47376,
+          "snapshot": "pass_end_0282",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 282,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47376,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47376,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.017164426135423e-07,
+            "update_l2": 0.017842097207903862
+          },
+          "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": 5.640371369963759e-08,
+            "update_l2": 0.0013495837338268757
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.98476825770922e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.98476825770922e-05,
+          "observation_loss": 9.98476825770922e-05,
+          "chamfer": 5.23317139595747e-05,
+          "track": 4.75159686175175e-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": 282,
+        "adam_update_count": 47376
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04096150700934231
+  },
+  "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_1852d8730d194fe1b56874e975b6309f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 283,
+  "next_interval": 0,
+  "next_adam_update": 47377,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 282,
+    "trained_intervals": 47376,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47376,
+  "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": -0.7176604866981506,
+      "median": 9.70101547241211,
+      "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": 5.367961406707764,
+      "median": 9.530660629272461,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.48789235949516296,
+      "median": 16334.1865234375,
+      "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": 214.42529296875,
+      "median": 13776.037109375,
+      "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": 3887,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0283.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0283",
+  "executed_epochs": 283,
+  "score": null,
+  "best_score": 5.504135604150222e-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_d99bac3b3de24e91a658ac22df06b20a.npz",
+  "optimizer_file": "boundary_d99bac3b3de24e91a658ac22df06b20a_optimizer.pt",
+  "arrays_sha256": "6d38cc2362a356853b9d889f2a5af526993b1e0094bdd8752c77a84e45ea83c3",
+  "optimizer_sha256": "a86f601f72b16b9c7fb9a02ca133072c7758824f511dfdbb9ed294901fb7a23d",
+  "stage": "adam",
+  "completed_passes": 283,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47544,
+  "adam_update_count": 47544,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 284,
+    "consumed_count": 283,
+    "last_submitted_update": 47544,
+    "last_consumed_update": 47376,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47544,
+          "completed_passes": 283,
+          "next_interval": 0,
+          "trained_intervals": 47544,
+          "snapshot": "pass_end_0283",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47376,
+  "pass_science": {
+    "completed_passes": 283,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47544,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47544,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.2989446430729e-07,
+            "update_l2": 0.014407739043235779
+          },
+          "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": 4.4229263806983e-08,
+            "update_l2": 0.0009797411039471626
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.546379442326725e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.546379442326725e-05,
+          "observation_loss": 9.546379442326725e-05,
+          "chamfer": 5.3065261454321444e-05,
+          "track": 4.23985329689458e-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": 283,
+        "adam_update_count": 47544
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04155127494595945
+  },
+  "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_d99bac3b3de24e91a658ac22df06b20a_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 284,
+  "next_interval": 0,
+  "next_adam_update": 47545,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 283,
+    "trained_intervals": 47544,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47544,
+  "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": -0.7225698828697205,
+      "median": 9.700973510742188,
+      "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": 5.364322185516357,
+      "median": 9.527082443237305,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4855029582977295,
+      "median": 16333.5,
+      "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": 213.64637756347656,
+      "median": 13726.734375,
+      "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": 3897,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0284.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0284",
+  "executed_epochs": 284,
+  "score": null,
+  "best_score": 5.504135604150222e-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_22d7835994964af7926dff72a8f5c078.npz",
+  "optimizer_file": "boundary_22d7835994964af7926dff72a8f5c078_optimizer.pt",
+  "arrays_sha256": "9c1b105f755023c201e60201abe24a37a67f2b8ccf5f41a17fe405cc78827db1",
+  "optimizer_sha256": "b3691b54d623f35893bdbf4cf42145c045e3ce9a30677facd7a29062bfc9bb6e",
+  "stage": "adam",
+  "completed_passes": 284,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47712,
+  "adam_update_count": 47712,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 285,
+    "consumed_count": 284,
+    "last_submitted_update": 47712,
+    "last_consumed_update": 47544,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47712,
+          "completed_passes": 284,
+          "next_interval": 0,
+          "trained_intervals": 47712,
+          "snapshot": "pass_end_0284",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47376,
+  "pass_science": {
+    "completed_passes": 284,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47712,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47712,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.238823513944226e-07,
+            "update_l2": 0.014841990545392036
+          },
+          "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": 4.4759623563095374e-08,
+            "update_l2": 0.0009668340208008885
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.417551336809993e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.417551336809993e-05,
+          "observation_loss": 9.417551336809993e-05,
+          "chamfer": 5.2224240789655596e-05,
+          "track": 4.195127257844433e-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": 284,
+        "adam_update_count": 47712
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.042233546962961555
+  },
+  "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_22d7835994964af7926dff72a8f5c078_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 285,
+  "next_interval": 0,
+  "next_adam_update": 47713,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 284,
+    "trained_intervals": 47712,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47712,
+  "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": -0.7274447679519653,
+      "median": 9.701011657714844,
+      "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": 5.360577583312988,
+      "median": 9.523216247558594,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4831419587135315,
+      "median": 16334.1240234375,
+      "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": 212.8478546142578,
+      "median": 13673.666015625,
+      "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": 3905,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0285.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0285",
+  "executed_epochs": 285,
+  "score": null,
+  "best_score": 5.504135604150222e-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_ebfd4b11a209424b93ddc6dd9d14704f.npz",
+  "optimizer_file": "boundary_ebfd4b11a209424b93ddc6dd9d14704f_optimizer.pt",
+  "arrays_sha256": "a00bc25e9418a48953b5ff95a67181c48b0c71fee26135d303dfc7e33649e338",
+  "optimizer_sha256": "0eb35d8746081f01c90c47205f962ef3a6aa2b7029ac97f84f52e44a2b0b6840",
+  "stage": "adam",
+  "completed_passes": 285,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47880,
+  "adam_update_count": 47880,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 286,
+    "consumed_count": 285,
+    "last_submitted_update": 47880,
+    "last_consumed_update": 47712,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47880,
+          "completed_passes": 285,
+          "next_interval": 0,
+          "trained_intervals": 47880,
+          "snapshot": "pass_end_0285",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47376,
+  "pass_science": {
+    "completed_passes": 285,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47880,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47880,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.551381943609158e-07,
+            "update_l2": 0.016169153153896332
+          },
+          "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": 4.0807556445088267e-08,
+            "update_l2": 0.001047272700816393
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.115129068959504e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.115129068959504e-05,
+          "observation_loss": 9.115129068959504e-05,
+          "chamfer": 4.875957529293373e-05,
+          "track": 4.239171903464012e-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": 285,
+        "adam_update_count": 47880
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04184565017931163
+  },
+  "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_ebfd4b11a209424b93ddc6dd9d14704f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 286,
+  "next_interval": 0,
+  "next_adam_update": 47881,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 285,
+    "trained_intervals": 47880,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47880,
+  "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": -0.7313359975814819,
+      "median": 9.701077461242676,
+      "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": 5.356816291809082,
+      "median": 9.519594192504883,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4812656044960022,
+      "median": 16335.1982421875,
+      "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": 212.0487823486328,
+      "median": 13624.15234375,
+      "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": 3916,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0286.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0286",
+  "executed_epochs": 286,
+  "score": null,
+  "best_score": 5.504135604150222e-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_3ad89fb1aef14e44b7ca55ceeb36ba9f.npz",
+  "optimizer_file": "boundary_3ad89fb1aef14e44b7ca55ceeb36ba9f_optimizer.pt",
+  "arrays_sha256": "6aa1a24aa3042704307ce8b9abea0817aaee69a345fdf6069ec06d1f150d1cd1",
+  "optimizer_sha256": "2fe49c95375e83b55396a462ddb2bf9571f8f204929e58e6e231a53930e46e3e",
+  "stage": "adam",
+  "completed_passes": 286,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48048,
+  "adam_update_count": 48048,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 287,
+    "consumed_count": 286,
+    "last_submitted_update": 48048,
+    "last_consumed_update": 47880,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48048,
+          "completed_passes": 286,
+          "next_interval": 0,
+          "trained_intervals": 48048,
+          "snapshot": "pass_end_0286",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47376,
+  "pass_science": {
+    "completed_passes": 286,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48048,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48048,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.095600386084698e-07,
+            "update_l2": 0.016069693490862846
+          },
+          "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": 6.443281108658994e-08,
+            "update_l2": 0.0012070134980604053
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.765208960743621e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.765208960743621e-05,
+          "observation_loss": 9.765208960743621e-05,
+          "chamfer": 5.132276055519469e-05,
+          "track": 4.632932905224152e-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": 286,
+        "adam_update_count": 48048
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.042176781920716166
+  },
+  "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_3ad89fb1aef14e44b7ca55ceeb36ba9f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 287,
+  "next_interval": 0,
+  "next_adam_update": 48049,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 286,
+    "trained_intervals": 48048,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48048,
+  "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": -0.7360126972198486,
+      "median": 9.701214790344238,
+      "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": 5.352999210357666,
+      "median": 9.51667594909668,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4790201485157013,
+      "median": 16337.44140625,
+      "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": 211.24090576171875,
+      "median": 13584.3828125,
+      "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": 3929,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0287.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0287",
+  "executed_epochs": 287,
+  "score": null,
+  "best_score": 5.503967565800849e-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_9d50d426a47e42d1ac3476f21044069d.npz",
+  "optimizer_file": "boundary_9d50d426a47e42d1ac3476f21044069d_optimizer.pt",
+  "arrays_sha256": "e6fc5f06a888aa258fb8eb7e444365afe2d9dccbcf20cd7ba08074ad99b44b8a",
+  "optimizer_sha256": "5054d0af66e9114fb7acdf262b1496ab8e8638bf09f9b99b0969c0c2201a1f6d",
+  "stage": "adam",
+  "completed_passes": 287,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48216,
+  "adam_update_count": 48216,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 288,
+    "consumed_count": 287,
+    "last_submitted_update": 48216,
+    "last_consumed_update": 48048,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48216,
+          "completed_passes": 287,
+          "next_interval": 0,
+          "trained_intervals": 48216,
+          "snapshot": "pass_end_0287",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48048,
+  "pass_science": {
+    "completed_passes": 287,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48216,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48216,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 9.079525966626534e-07,
+            "update_l2": 0.015244870446622372
+          },
+          "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": 4.312591173061264e-08,
+            "update_l2": 0.0009687679121270776
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.061361197382212e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.061361197382212e-05,
+          "observation_loss": 9.061361197382212e-05,
+          "chamfer": 4.849375909543596e-05,
+          "track": 4.2119852878386155e-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": 287,
+        "adam_update_count": 48216
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.040749201783910394
+  },
+  "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_9d50d426a47e42d1ac3476f21044069d_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 288,
+  "next_interval": 0,
+  "next_adam_update": 48217,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 287,
+    "trained_intervals": 48216,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48216,
+  "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": -0.7405022978782654,
+      "median": 9.701292037963867,
+      "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": 5.349441051483154,
+      "median": 9.515998840332031,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.47687435150146484,
+      "median": 16338.7041015625,
+      "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": 210.49061584472656,
+      "median": 13575.1943359375,
+      "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": 3933,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0288.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0288",
+  "executed_epochs": 288,
+  "score": null,
+  "best_score": 5.503967565800849e-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_db700cf0a53c474499e746be0e22b999.npz",
+  "optimizer_file": "boundary_db700cf0a53c474499e746be0e22b999_optimizer.pt",
+  "arrays_sha256": "fb8a4637bfb2ee783def3b67ad90d37364c66c297466eeef70527827fb3f560d",
+  "optimizer_sha256": "bc1b6e4d558b43bfc048eda334d04ff0c2a54d0e7d087b3e6187450020520c73",
+  "stage": "adam",
+  "completed_passes": 288,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48384,
+  "adam_update_count": 48384,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 289,
+    "consumed_count": 288,
+    "last_submitted_update": 48384,
+    "last_consumed_update": 48216,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48384,
+          "completed_passes": 288,
+          "next_interval": 0,
+          "trained_intervals": 48384,
+          "snapshot": "pass_end_0288",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48048,
+  "pass_science": {
+    "completed_passes": 288,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48384,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48384,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.667892537530861e-07,
+            "update_l2": 0.015523292124271393
+          },
+          "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": 6.578844136129192e-08,
+            "update_l2": 0.0012421439168974757
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.77413437794894e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.77413437794894e-05,
+          "observation_loss": 9.77413437794894e-05,
+          "chamfer": 5.161046647117473e-05,
+          "track": 4.613088094629347e-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": 288,
+        "adam_update_count": 48384
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04059685207903385
+  },
+  "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_db700cf0a53c474499e746be0e22b999_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 289,
+  "next_interval": 0,
+  "next_adam_update": 48385,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 288,
+    "trained_intervals": 48384,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48384,
+  "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": -0.7453134059906006,
+      "median": 9.701423645019531,
+      "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": 5.345818996429443,
+      "median": 9.514252662658691,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.47458556294441223,
+      "median": 16340.8544921875,
+      "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": 209.72958374023438,
+      "median": 13551.501953125,
+      "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": 3943,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0289.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0289",
+  "executed_epochs": 289,
+  "score": null,
+  "best_score": 5.446479727717295e-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_86fcccfc99254467b36c9941adf40b71.npz",
+  "optimizer_file": "boundary_86fcccfc99254467b36c9941adf40b71_optimizer.pt",
+  "arrays_sha256": "257469e842abe021b6aef7d004fdea20300447bb5b8a1d7e8273dc3337128eb2",
+  "optimizer_sha256": "fc41694e3a5a89263b4fc5e6cb64a2c315e5ffe315b762cc137f4a16431eb6a5",
+  "stage": "adam",
+  "completed_passes": 289,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48552,
+  "adam_update_count": 48552,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 290,
+    "consumed_count": 289,
+    "last_submitted_update": 48552,
+    "last_consumed_update": 48384,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48552,
+          "completed_passes": 289,
+          "next_interval": 0,
+          "trained_intervals": 48552,
+          "snapshot": "pass_end_0289",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48384,
+  "pass_science": {
+    "completed_passes": 289,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48552,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48552,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.756165357226564e-07,
+            "update_l2": 0.015191943384706974
+          },
+          "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": 4.41246577054244e-08,
+            "update_l2": 0.0009588073589839041
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.010970097733662e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.010970097733662e-05,
+          "observation_loss": 9.010970097733662e-05,
+          "chamfer": 4.865960727329366e-05,
+          "track": 4.1450093704042956e-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": 289,
+        "adam_update_count": 48552
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04291520803235471
+  },
+  "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_86fcccfc99254467b36c9941adf40b71_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 290,
+  "next_interval": 0,
+  "next_adam_update": 48553,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 289,
+    "trained_intervals": 48552,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48552,
+  "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": -0.7502610683441162,
+      "median": 9.701539993286133,
+      "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": 5.34235954284668,
+      "median": 9.513912200927734,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4722432494163513,
+      "median": 16342.755859375,
+      "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": 209.00527954101562,
+      "median": 13546.8955078125,
+      "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": 3957,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0290.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0290",
+  "executed_epochs": 290,
+  "score": null,
+  "best_score": 5.446479727717295e-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_5e620dcf4e9544969e90e297add56285.npz",
+  "optimizer_file": "boundary_5e620dcf4e9544969e90e297add56285_optimizer.pt",
+  "arrays_sha256": "1889c44fffdf098819390dab829cb5b53280b1cab9a1d212252687a2e72075e8",
+  "optimizer_sha256": "b26fb177d88ce4753c5077d02a9f0fc58134d6ddf64c85a0e95ae45ab71ad53d",
+  "stage": "adam",
+  "completed_passes": 290,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48720,
+  "adam_update_count": 48720,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 291,
+    "consumed_count": 290,
+    "last_submitted_update": 48720,
+    "last_consumed_update": 48552,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48720,
+          "completed_passes": 290,
+          "next_interval": 0,
+          "trained_intervals": 48720,
+          "snapshot": "pass_end_0290",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48384,
+  "pass_science": {
+    "completed_passes": 290,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48720,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48720,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.173066822157125e-07,
+            "update_l2": 0.01605203188955784
+          },
+          "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": 6.451450929034763e-08,
+            "update_l2": 0.0014371450524777174
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.507368667982519e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.507368667982519e-05,
+          "observation_loss": 9.507368667982519e-05,
+          "chamfer": 4.9574882723391056e-05,
+          "track": 4.549880759441294e-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": 290,
+        "adam_update_count": 48720
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041744021931663156
+  },
+  "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_5e620dcf4e9544969e90e297add56285_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 291,
+  "next_interval": 0,
+  "next_adam_update": 48721,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 290,
+    "trained_intervals": 48720,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48720,
+  "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": -0.7548007369041443,
+      "median": 9.70162296295166,
+      "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": 5.33867883682251,
+      "median": 9.513304710388184,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.47010430693626404,
+      "median": 16344.1123046875,
+      "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": 208.2374267578125,
+      "median": 13538.662109375,
+      "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": 3964,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0291.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0291",
+  "executed_epochs": 291,
+  "score": null,
+  "best_score": 5.446479727717295e-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_38de84ab5b35468cbd6ec3fcba4a49b6.npz",
+  "optimizer_file": "boundary_38de84ab5b35468cbd6ec3fcba4a49b6_optimizer.pt",
+  "arrays_sha256": "e3ea655e1b45829de33004f985aaf96714776f714de2b09ed54b9befbb44bf96",
+  "optimizer_sha256": "54e823ab4eccbbe17a5d15fc0568393befbca4810e87f0f124da904a974efa83",
+  "stage": "adam",
+  "completed_passes": 291,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48888,
+  "adam_update_count": 48888,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 292,
+    "consumed_count": 291,
+    "last_submitted_update": 48888,
+    "last_consumed_update": 48720,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48888,
+          "completed_passes": 291,
+          "next_interval": 0,
+          "trained_intervals": 48888,
+          "snapshot": "pass_end_0291",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48384,
+  "pass_science": {
+    "completed_passes": 291,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48888,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48888,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.851569196442142e-07,
+            "update_l2": 0.01540056150406599
+          },
+          "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": 4.447432999654666e-08,
+            "update_l2": 0.0010113082826137543
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.016625699587166e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.016625699587166e-05,
+          "observation_loss": 9.016625699587166e-05,
+          "chamfer": 4.857466774410568e-05,
+          "track": 4.1591585613787174e-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": 291,
+        "adam_update_count": 48888
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04057845682837069
+  },
+  "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_38de84ab5b35468cbd6ec3fcba4a49b6_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 292,
+  "next_interval": 0,
+  "next_adam_update": 48889,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 291,
+    "trained_intervals": 48888,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48888,
+  "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": -0.759274423122406,
+      "median": 9.701696395874023,
+      "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": 5.335197448730469,
+      "median": 9.512916564941406,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.468005895614624,
+      "median": 16345.3115234375,
+      "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": 207.5137176513672,
+      "median": 13533.40234375,
+      "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": 3971,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0292.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0292",
+  "executed_epochs": 292,
+  "score": null,
+  "best_score": 5.446479727717295e-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_ebecf1f40b6f4bb78b698b991ae6ac83.npz",
+  "optimizer_file": "boundary_ebecf1f40b6f4bb78b698b991ae6ac83_optimizer.pt",
+  "arrays_sha256": "31bd3468ed38052df568b1bdf6ec7feaef7016d049f5435db35126dc1b35f1e9",
+  "optimizer_sha256": "1630c2d74aa0715e56c3a5d359c4961a20e6e367df8d6a323e7ba9a7122d0283",
+  "stage": "adam",
+  "completed_passes": 292,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49056,
+  "adam_update_count": 49056,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 293,
+    "consumed_count": 292,
+    "last_submitted_update": 49056,
+    "last_consumed_update": 48888,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49056,
+          "completed_passes": 292,
+          "next_interval": 0,
+          "trained_intervals": 49056,
+          "snapshot": "pass_end_0292",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48384,
+  "pass_science": {
+    "completed_passes": 292,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49056,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49056,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.365630156324187e-07,
+            "update_l2": 0.014678388833999634
+          },
+          "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": 4.6344791115870976e-08,
+            "update_l2": 0.0009448070777580142
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.97418285603635e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.97418285603635e-05,
+          "observation_loss": 8.97418285603635e-05,
+          "chamfer": 4.858922693529166e-05,
+          "track": 4.115260162507184e-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": 292,
+        "adam_update_count": 49056
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04162319819442928
+  },
+  "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_ebecf1f40b6f4bb78b698b991ae6ac83_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 293,
+  "next_interval": 0,
+  "next_adam_update": 49057,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 292,
+    "trained_intervals": 49056,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49056,
+  "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": -0.763869047164917,
+      "median": 9.701802253723145,
+      "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": 5.331721782684326,
+      "median": 9.512868881225586,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4658604860305786,
+      "median": 16347.04296875,
+      "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": 206.79373168945312,
+      "median": 13532.76953125,
+      "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": 3985,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0293.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0293",
+  "executed_epochs": 293,
+  "score": null,
+  "best_score": 5.446479727717295e-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_214a7152894d47d19ba8aefdd0f1017f.npz",
+  "optimizer_file": "boundary_214a7152894d47d19ba8aefdd0f1017f_optimizer.pt",
+  "arrays_sha256": "0f328c9d5c1ed6f45e7addf86ccae86f3fbbf7cad4085a5adc6ad881fdcb6dc5",
+  "optimizer_sha256": "e59dcee3926589290c94fe45903680214fca7db5d92cce9435479aab2bd9c293",
+  "stage": "adam",
+  "completed_passes": 293,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49224,
+  "adam_update_count": 49224,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 294,
+    "consumed_count": 293,
+    "last_submitted_update": 49224,
+    "last_consumed_update": 49056,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49224,
+          "completed_passes": 293,
+          "next_interval": 0,
+          "trained_intervals": 49224,
+          "snapshot": "pass_end_0293",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48384,
+  "pass_science": {
+    "completed_passes": 293,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49224,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49224,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.006382591294823e-07,
+            "update_l2": 0.01972929947078228
+          },
+          "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": 6.392183848902278e-08,
+            "update_l2": 0.001379857654683292
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.788044553715736e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.788044553715736e-05,
+          "observation_loss": 9.788044553715736e-05,
+          "chamfer": 5.189572766539641e-05,
+          "track": 4.598471787176095e-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": 293,
+        "adam_update_count": 49224
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041932947002351284
+  },
+  "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_214a7152894d47d19ba8aefdd0f1017f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 294,
+  "next_interval": 0,
+  "next_adam_update": 49225,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 293,
+    "trained_intervals": 49224,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49224,
+  "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": -0.7683709859848022,
+      "median": 9.701920509338379,
+      "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": 5.328061580657959,
+      "median": 9.512218475341797,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.463767945766449,
+      "median": 16348.9755859375,
+      "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": 206.0382080078125,
+      "median": 13523.96484375,
+      "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": 3995,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0294.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0294",
+  "executed_epochs": 294,
+  "score": null,
+  "best_score": 5.4224841538338554e-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_9aa044602ee544c2a4f8d80bc121af1e.npz",
+  "optimizer_file": "boundary_9aa044602ee544c2a4f8d80bc121af1e_optimizer.pt",
+  "arrays_sha256": "91efa7a361fe401a272fb8e65783255de585c0457bcbbf851391855742067fc2",
+  "optimizer_sha256": "f757d5d7b5cbcea2535996f9ee475d45484d7eef6fb91be20aae5a637d696b03",
+  "stage": "adam",
+  "completed_passes": 294,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49392,
+  "adam_update_count": 49392,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 295,
+    "consumed_count": 294,
+    "last_submitted_update": 49392,
+    "last_consumed_update": 49224,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49392,
+          "completed_passes": 294,
+          "next_interval": 0,
+          "trained_intervals": 49392,
+          "snapshot": "pass_end_0294",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49224,
+  "pass_science": {
+    "completed_passes": 294,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49392,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49392,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.084314006533532e-07,
+            "update_l2": 0.01509396918118
+          },
+          "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": 4.471289116736443e-08,
+            "update_l2": 0.0010052953148260713
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.999886631499976e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.999886631499976e-05,
+          "observation_loss": 8.999886631499976e-05,
+          "chamfer": 4.857033127336763e-05,
+          "track": 4.142853504163213e-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": 294,
+        "adam_update_count": 49392
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04109884100034833
+  },
+  "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_9aa044602ee544c2a4f8d80bc121af1e_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 295,
+  "next_interval": 0,
+  "next_adam_update": 49393,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 294,
+    "trained_intervals": 49392,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49392,
+  "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": -0.7727863788604736,
+      "median": 9.701837539672852,
+      "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": 5.324709415435791,
+      "median": 9.511951446533203,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.46172472834587097,
+      "median": 16347.619140625,
+      "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": 205.34869384765625,
+      "median": 13520.353515625,
+      "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": 4008,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0295.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0295",
+  "executed_epochs": 295,
+  "score": null,
+  "best_score": 5.4224841538338554e-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_7e8b35a8eb434112a848952929b16b43.npz",
+  "optimizer_file": "boundary_7e8b35a8eb434112a848952929b16b43_optimizer.pt",
+  "arrays_sha256": "bd7f12ce327837412fc9f653b0be27355b48528d335e883e2fad3a6e4ae07d92",
+  "optimizer_sha256": "c8a8133405634957bdda675dc088ee134bea572f7577bf7c9e612295044fb134",
+  "stage": "adam",
+  "completed_passes": 295,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49560,
+  "adam_update_count": 49560,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 296,
+    "consumed_count": 295,
+    "last_submitted_update": 49560,
+    "last_consumed_update": 49392,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49560,
+          "completed_passes": 295,
+          "next_interval": 0,
+          "trained_intervals": 49560,
+          "snapshot": "pass_end_0295",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49224,
+  "pass_science": {
+    "completed_passes": 295,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49560,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49560,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.1191307294211583e-06,
+            "update_l2": 0.01581280119717121
+          },
+          "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": 4.5361048250924796e-08,
+            "update_l2": 0.0009319115779362619
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.184815280605108e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.184815280605108e-05,
+          "observation_loss": 9.184815280605108e-05,
+          "chamfer": 5.016400609747507e-05,
+          "track": 4.1684150346554816e-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": 295,
+        "adam_update_count": 49560
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04399034380912781
+  },
+  "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_7e8b35a8eb434112a848952929b16b43_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 296,
+  "next_interval": 0,
+  "next_adam_update": 49561,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 295,
+    "trained_intervals": 49560,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49560,
+  "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": -0.7772327065467834,
+      "median": 9.701937675476074,
+      "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": 5.3212175369262695,
+      "median": 9.51182746887207,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4596763253211975,
+      "median": 16349.255859375,
+      "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": 204.6328887939453,
+      "median": 13518.68359375,
+      "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": 4020,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0296.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0296",
+  "executed_epochs": 296,
+  "score": null,
+  "best_score": 5.4224841538338554e-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_e27e20b427ca4ce196f8e9b79529d777.npz",
+  "optimizer_file": "boundary_e27e20b427ca4ce196f8e9b79529d777_optimizer.pt",
+  "arrays_sha256": "e6cf6c005db5a0fe9c99ed9723d4589f89787317172c2c3559d75b18155f5231",
+  "optimizer_sha256": "7bc72aa4b807a5aec172fe1c1db558ff5c4c502d00c4eba2726ac76a3520b836",
+  "stage": "adam",
+  "completed_passes": 296,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49728,
+  "adam_update_count": 49728,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 297,
+    "consumed_count": 296,
+    "last_submitted_update": 49728,
+    "last_consumed_update": 49560,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49728,
+          "completed_passes": 296,
+          "next_interval": 0,
+          "trained_intervals": 49728,
+          "snapshot": "pass_end_0296",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49224,
+  "pass_science": {
+    "completed_passes": 296,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49728,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49728,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.261621135512542e-07,
+            "update_l2": 0.014983424916863441
+          },
+          "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": 6.038983713096968e-08,
+            "update_l2": 0.0013422344345599413
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.755921928444877e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.755921928444877e-05,
+          "observation_loss": 9.755921928444877e-05,
+          "chamfer": 5.06001670146361e-05,
+          "track": 4.695905226981267e-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": 296,
+        "adam_update_count": 49728
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.05633698799647391
+  },
+  "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_e27e20b427ca4ce196f8e9b79529d777_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 297,
+  "next_interval": 0,
+  "next_adam_update": 49729,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 296,
+    "trained_intervals": 49728,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49728,
+  "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": -0.7815133333206177,
+      "median": 9.7020263671875,
+      "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": 5.3175578117370605,
+      "median": 9.511211395263672,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4577128291130066,
+      "median": 16350.7060546875,
+      "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": 203.88534545898438,
+      "median": 13510.357421875,
+      "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": 4043,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0297.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0297",
+  "executed_epochs": 297,
+  "score": null,
+  "best_score": 5.420108476798868e-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_1a3315deec3f413b997ca9e4604c3c13.npz",
+  "optimizer_file": "boundary_1a3315deec3f413b997ca9e4604c3c13_optimizer.pt",
+  "arrays_sha256": "d8752b1dc1b7e7112bfef2d1d54fc07f1ff16193399e7aa569f949ddf2ce4c0c",
+  "optimizer_sha256": "67b9530184f2f63c7d6e298b973483151d313ec40649782c772093559b3419e9",
+  "stage": "adam",
+  "completed_passes": 297,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49896,
+  "adam_update_count": 49896,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 298,
+    "consumed_count": 297,
+    "last_submitted_update": 49896,
+    "last_consumed_update": 49728,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49896,
+          "completed_passes": 297,
+          "next_interval": 0,
+          "trained_intervals": 49896,
+          "snapshot": "pass_end_0297",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49728,
+  "pass_science": {
+    "completed_passes": 297,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49896,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49896,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.605459930142388e-07,
+            "update_l2": 0.014199020341038704
+          },
+          "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": 4.788362062413398e-08,
+            "update_l2": 0.0009418529807589948
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.998138946481049e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.998138946481049e-05,
+          "observation_loss": 8.998138946481049e-05,
+          "chamfer": 4.917493060929701e-05,
+          "track": 4.080645885551348e-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": 297,
+        "adam_update_count": 49896
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04221690399572253
+  },
+  "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_1a3315deec3f413b997ca9e4604c3c13_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 298,
+  "next_interval": 0,
+  "next_adam_update": 49897,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 297,
+    "trained_intervals": 49896,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49896,
+  "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": -0.7855640649795532,
+      "median": 9.702080726623535,
+      "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": 5.314367294311523,
+      "median": 9.510946273803711,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.45586252212524414,
+      "median": 16351.595703125,
+      "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": 203.23590087890625,
+      "median": 13506.7763671875,
+      "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": 4052,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0298.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0298",
+  "executed_epochs": 298,
+  "score": null,
+  "best_score": 5.420108476798868e-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_d010aea577134f10b5d23264c01af66b.npz",
+  "optimizer_file": "boundary_d010aea577134f10b5d23264c01af66b_optimizer.pt",
+  "arrays_sha256": "f1a90bcf243eb63cf46ccd777a901b5466b40f7c69263b77738b22de6abc4463",
+  "optimizer_sha256": "bcdf717827b55c2cb0ab99b0dc3d1487fe58d120c435b477c2ee1902c65153f9",
+  "stage": "adam",
+  "completed_passes": 298,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50064,
+  "adam_update_count": 50064,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 299,
+    "consumed_count": 298,
+    "last_submitted_update": 50064,
+    "last_consumed_update": 49896,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50064,
+          "completed_passes": 298,
+          "next_interval": 0,
+          "trained_intervals": 50064,
+          "snapshot": "pass_end_0298",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49728,
+  "pass_science": {
+    "completed_passes": 298,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50064,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50064,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.581898676609853e-07,
+            "update_l2": 0.017428195104002953
+          },
+          "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": 6.312558298304793e-08,
+            "update_l2": 0.0013088133418932557
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.72582638496533e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.72582638496533e-05,
+          "observation_loss": 9.72582638496533e-05,
+          "chamfer": 5.122402581037022e-05,
+          "track": 4.6034234401304275e-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": 298,
+        "adam_update_count": 50064
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04402793198823929
+  },
+  "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_d010aea577134f10b5d23264c01af66b_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 299,
+  "next_interval": 0,
+  "next_adam_update": 50065,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 298,
+    "trained_intervals": 50064,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50064,
+  "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": -0.7898115515708923,
+      "median": 9.702201843261719,
+      "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": 5.310807228088379,
+      "median": 9.510261535644531,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4539303481578827,
+      "median": 16353.576171875,
+      "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": 202.51364135742188,
+      "median": 13497.525390625,
+      "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": 4059,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0299.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0299",
+  "executed_epochs": 299,
+  "score": null,
+  "best_score": 5.406928648556329e-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_110feff08e5843619bf6f4deb96ae277.npz",
+  "optimizer_file": "boundary_110feff08e5843619bf6f4deb96ae277_optimizer.pt",
+  "arrays_sha256": "cf57213b9b148924b0e2b29ba8484ca91ba95096926f4a8fe49dad4103bbc654",
+  "optimizer_sha256": "a430b9512b3ee64da88ddd55234f458921e5e8106edb514f61bfec02b84187c0",
+  "stage": "adam",
+  "completed_passes": 299,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50232,
+  "adam_update_count": 50232,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 300,
+    "consumed_count": 299,
+    "last_submitted_update": 50232,
+    "last_consumed_update": 50064,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50232,
+          "completed_passes": 299,
+          "next_interval": 0,
+          "trained_intervals": 50232,
+          "snapshot": "pass_end_0299",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50064,
+  "pass_science": {
+    "completed_passes": 299,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50232,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50232,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 9.115881312027341e-07,
+            "update_l2": 0.014322108589112759
+          },
+          "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": 4.8902897731295525e-08,
+            "update_l2": 0.0009431744692847133
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.19005906325765e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.19005906325765e-05,
+          "observation_loss": 9.19005906325765e-05,
+          "chamfer": 5.0679642299655825e-05,
+          "track": 4.122094833292067e-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": 299,
+        "adam_update_count": 50232
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041287092957645655
+  },
+  "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_110feff08e5843619bf6f4deb96ae277_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 300,
+  "next_interval": 0,
+  "next_adam_update": 50233,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 299,
+    "trained_intervals": 50232,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50232,
+  "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": -0.7946314215660095,
+      "median": 9.702275276184082,
+      "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": 5.307493209838867,
+      "median": 9.510030746459961,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.45174771547317505,
+      "median": 16354.7763671875,
+      "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": 201.8436279296875,
+      "median": 13494.416015625,
+      "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": 4071,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0300.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0300",
+  "executed_epochs": 300,
+  "score": null,
+  "best_score": 5.404067579071298e-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_9b2ba5f85cb8480c82daea8039dc2789.npz",
+  "optimizer_file": "boundary_9b2ba5f85cb8480c82daea8039dc2789_optimizer.pt",
+  "arrays_sha256": "3d5ab16f5539d159d51d5e1006f6b1a779d575aa20dcad32c4b6f77f90c8e6a6",
+  "optimizer_sha256": "0215a68147b59639c28afcd6bbf2624b2004a2c6fa11da58a568a884ae17378e",
+  "stage": "adam",
+  "completed_passes": 300,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50400,
+  "adam_update_count": 50400,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 301,
+    "consumed_count": 300,
+    "last_submitted_update": 50400,
+    "last_consumed_update": 50232,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50400,
+          "completed_passes": 300,
+          "next_interval": 0,
+          "trained_intervals": 50400,
+          "snapshot": "pass_end_0300",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50232,
+  "pass_science": {
+    "completed_passes": 300,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50400,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50400,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 9.605251989341923e-07,
+            "update_l2": 0.01490805484354496
+          },
+          "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": 4.8721332746026746e-08,
+            "update_l2": 0.0009751401375979185
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.150676487479359e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.150676487479359e-05,
+          "observation_loss": 9.150676487479359e-05,
+          "chamfer": 5.049229730502702e-05,
+          "track": 4.1014467569766566e-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": 300,
+        "adam_update_count": 50400
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04142900719307363
+  },
+  "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_9b2ba5f85cb8480c82daea8039dc2789_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 301,
+  "next_interval": 0,
+  "next_adam_update": 50401,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 300,
+    "trained_intervals": 50400,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50400,
+  "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": -0.7994130849838257,
+      "median": 9.70241641998291,
+      "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": 5.304025173187256,
+      "median": 9.509970664978027,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4495927691459656,
+      "median": 16357.0849609375,
+      "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": 201.1448211669922,
+      "median": 13493.5986328125,
+      "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": 4084,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0301.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0301",
+  "executed_epochs": 301,
+  "score": null,
+  "best_score": 5.404067579071298e-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_3ef1b516c7914f25b43d0938715fd19b.npz",
+  "optimizer_file": "boundary_3ef1b516c7914f25b43d0938715fd19b_optimizer.pt",
+  "arrays_sha256": "f83b6763143ccc0ddcad008779ab95d9359cba4fb1e6a5c7e1189faa2f844c56",
+  "optimizer_sha256": "b75869b4e6d354421a17e65c3fe9ad059207e97432cb9266a2b1699d9dd6aaa1",
+  "stage": "adam",
+  "completed_passes": 301,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50568,
+  "adam_update_count": 50568,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 302,
+    "consumed_count": 301,
+    "last_submitted_update": 50568,
+    "last_consumed_update": 50400,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50568,
+          "completed_passes": 301,
+          "next_interval": 0,
+          "trained_intervals": 50568,
+          "snapshot": "pass_end_0301",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50232,
+  "pass_science": {
+    "completed_passes": 301,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50568,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50568,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 4.58549635595773e-07,
+            "update_l2": 0.017759932205080986
+          },
+          "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": 4.9310028060745026e-08,
+            "update_l2": 0.0009846859611570835
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.091201354749501e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.091201354749501e-05,
+          "observation_loss": 9.091201354749501e-05,
+          "chamfer": 5.006442734156735e-05,
+          "track": 4.0847586205927655e-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": 301,
+        "adam_update_count": 50568
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.040918168146163225
+  },
+  "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_3ef1b516c7914f25b43d0938715fd19b_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 302,
+  "next_interval": 0,
+  "next_adam_update": 50569,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 301,
+    "trained_intervals": 50568,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50568,
+  "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": -0.8039782643318176,
+      "median": 9.702433586120605,
+      "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": 5.30065393447876,
+      "median": 9.508740425109863,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.44754499197006226,
+      "median": 16357.3662109375,
+      "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": 200.46786499023438,
+      "median": 13477.013671875,
+      "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": 4093,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0302.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0302",
+  "executed_epochs": 302,
+  "score": null,
+  "best_score": 5.404067579071298e-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_b565d1f86f384332b10e9a6cdaf55f87.npz",
+  "optimizer_file": "boundary_b565d1f86f384332b10e9a6cdaf55f87_optimizer.pt",
+  "arrays_sha256": "1ea3d060228fdd70c75e71b98eb5bacf3a4a057a7d4c124525896688f50a05c1",
+  "optimizer_sha256": "5feb0dfc48995b5eba2538c8ed36f76b6fe7577f388888621519a04ed55f9a0b",
+  "stage": "adam",
+  "completed_passes": 302,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50736,
+  "adam_update_count": 50736,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 303,
+    "consumed_count": 302,
+    "last_submitted_update": 50736,
+    "last_consumed_update": 50568,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50736,
+          "completed_passes": 302,
+          "next_interval": 0,
+          "trained_intervals": 50736,
+          "snapshot": "pass_end_0302",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50232,
+  "pass_science": {
+    "completed_passes": 302,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50736,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50736,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.611008641106309e-07,
+            "update_l2": 0.015385346487164497
+          },
+          "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": 6.207493896681626e-08,
+            "update_l2": 0.0012857354013249278
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.755621431395411e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.755621431395411e-05,
+          "observation_loss": 9.755621431395411e-05,
+          "chamfer": 5.105819582240656e-05,
+          "track": 4.649801485356875e-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": 302,
+        "adam_update_count": 50736
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04124843794852495
+  },
+  "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_b565d1f86f384332b10e9a6cdaf55f87_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 303,
+  "next_interval": 0,
+  "next_adam_update": 50737,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 302,
+    "trained_intervals": 50736,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50736,
+  "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": -0.808378279209137,
+      "median": 9.702518463134766,
+      "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": 5.297094345092773,
+      "median": 9.507840156555176,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4455801248550415,
+      "median": 16358.75390625,
+      "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": 199.75555419921875,
+      "median": 13464.890625,
+      "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": 4110,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0303.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0303",
+  "executed_epochs": 303,
+  "score": null,
+  "best_score": 5.384933009671451e-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_cfe391e64a75451e848db86177bc5b92.npz",
+  "optimizer_file": "boundary_cfe391e64a75451e848db86177bc5b92_optimizer.pt",
+  "arrays_sha256": "ede4dbd9411566e8660087cb4c41e0fcdcc00aa18c379d3a8a9e5c702cea97cf",
+  "optimizer_sha256": "0b410fb403879656a45498f3931f322378ca1144dc03faf9e8e018f4fe2cacc8",
+  "stage": "adam",
+  "completed_passes": 303,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50904,
+  "adam_update_count": 50904,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 304,
+    "consumed_count": 303,
+    "last_submitted_update": 50904,
+    "last_consumed_update": 50736,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50904,
+          "completed_passes": 303,
+          "next_interval": 0,
+          "trained_intervals": 50904,
+          "snapshot": "pass_end_0303",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 303,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50904,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50904,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.1438443152655964e-06,
+            "update_l2": 0.014717581681907177
+          },
+          "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": 4.847783685590912e-08,
+            "update_l2": 0.0009303118567913771
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.247005800716579e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.247005800716579e-05,
+          "observation_loss": 9.247005800716579e-05,
+          "chamfer": 5.123504888615571e-05,
+          "track": 4.123500912101008e-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": 303,
+        "adam_update_count": 50904
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04203675896860659
+  },
+  "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_cfe391e64a75451e848db86177bc5b92_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 304,
+  "next_interval": 0,
+  "next_adam_update": 50905,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 303,
+    "trained_intervals": 50904,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50904,
+  "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": -0.81300288438797,
+      "median": 9.702702522277832,
+      "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": 5.2939605712890625,
+      "median": 9.507406234741211,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.44352421164512634,
+      "median": 16361.765625,
+      "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": 199.1305389404297,
+      "median": 13459.048828125,
+      "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": 4119,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0304.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0304",
+  "executed_epochs": 304,
+  "score": null,
+  "best_score": 5.384933009671451e-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_7fa8242f96f449a6974af2fb47062ff4.npz",
+  "optimizer_file": "boundary_7fa8242f96f449a6974af2fb47062ff4_optimizer.pt",
+  "arrays_sha256": "a3b10142df8f9e88b81fb66e93e52c91fbc4b34bdd9ada2302434b24c18a9433",
+  "optimizer_sha256": "87ffe114e4a2501974dd3d8df50f97ea94ba9c63b5bc71ea49dc8e674d66a454",
+  "stage": "adam",
+  "completed_passes": 304,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51072,
+  "adam_update_count": 51072,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 305,
+    "consumed_count": 304,
+    "last_submitted_update": 51072,
+    "last_consumed_update": 50904,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51072,
+          "completed_passes": 304,
+          "next_interval": 0,
+          "trained_intervals": 51072,
+          "snapshot": "pass_end_0304",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 304,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51072,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51072,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.307081778482825e-07,
+            "update_l2": 0.014019894413650036
+          },
+          "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": 5.087839838324726e-08,
+            "update_l2": 0.0009268869180232286
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.060700540430844e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.060700540430844e-05,
+          "observation_loss": 9.060700540430844e-05,
+          "chamfer": 4.98420195071958e-05,
+          "track": 4.076498589711264e-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": 304,
+        "adam_update_count": 51072
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041115958942100406
+  },
+  "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_7fa8242f96f449a6974af2fb47062ff4_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 305,
+  "next_interval": 0,
+  "next_adam_update": 51073,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 304,
+    "trained_intervals": 51072,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51072,
+  "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": -0.8176823258399963,
+      "median": 9.70289421081543,
+      "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": 5.290616035461426,
+      "median": 9.506980895996094,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.44145360589027405,
+      "median": 16364.90234375,
+      "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": 198.4656524658203,
+      "median": 13453.33203125,
+      "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": 4130,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0305.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0305",
+  "executed_epochs": 305,
+  "score": null,
+  "best_score": 5.384933009671451e-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_e71570c60c844517901f639cca08993a.npz",
+  "optimizer_file": "boundary_e71570c60c844517901f639cca08993a_optimizer.pt",
+  "arrays_sha256": "3d1dec98c799e578e54e758b2fa9fa2a4d4aa32dcb588d5191cdac0f36c48617",
+  "optimizer_sha256": "a3113180e8ac6989bc3b26ffbd20d7ef53c77a91c03f903765aee32714390b2a",
+  "stage": "adam",
+  "completed_passes": 305,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51240,
+  "adam_update_count": 51240,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 306,
+    "consumed_count": 305,
+    "last_submitted_update": 51240,
+    "last_consumed_update": 51072,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51240,
+          "completed_passes": 305,
+          "next_interval": 0,
+          "trained_intervals": 51240,
+          "snapshot": "pass_end_0305",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 305,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51240,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51240,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.267994194786297e-07,
+            "update_l2": 0.013117892667651176
+          },
+          "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": 5.138862491094187e-08,
+            "update_l2": 0.0009433021186850965
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.177120227832347e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.177120227832347e-05,
+          "observation_loss": 9.177120227832347e-05,
+          "chamfer": 5.081923882244155e-05,
+          "track": 4.0951963455881923e-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": 305,
+        "adam_update_count": 51240
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04077040893025696
+  },
+  "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_e71570c60c844517901f639cca08993a_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 306,
+  "next_interval": 0,
+  "next_adam_update": 51241,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 305,
+    "trained_intervals": 51240,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51240,
+  "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": -0.8219792246818542,
+      "median": 9.703054428100586,
+      "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": 5.2872819900512695,
+      "median": 9.505216598510742,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.43956080079078674,
+      "median": 16367.525390625,
+      "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": 197.80506896972656,
+      "median": 13429.607421875,
+      "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": 4147,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0306.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0306",
+  "executed_epochs": 306,
+  "score": null,
+  "best_score": 5.384933009671451e-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_88273f7ac6e34bcab6812cb6ac42d69f.npz",
+  "optimizer_file": "boundary_88273f7ac6e34bcab6812cb6ac42d69f_optimizer.pt",
+  "arrays_sha256": "c144d63d89d639696171aaee316216edece4fc59c1db7cbd7a2510b8d470ab27",
+  "optimizer_sha256": "02f44ea0638854f54bf7f3cc68d29d226eb7624485bec737a4eb6b949514abeb",
+  "stage": "adam",
+  "completed_passes": 306,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51408,
+  "adam_update_count": 51408,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 307,
+    "consumed_count": 306,
+    "last_submitted_update": 51408,
+    "last_consumed_update": 51240,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51408,
+          "completed_passes": 306,
+          "next_interval": 0,
+          "trained_intervals": 51408,
+          "snapshot": "pass_end_0306",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 306,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51408,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51408,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.2381000260575092e-06,
+            "update_l2": 0.014474036172032356
+          },
+          "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": 4.8902183635846086e-08,
+            "update_l2": 0.0009387533646076918
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.204794332617894e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.204794332617894e-05,
+          "observation_loss": 9.204794332617894e-05,
+          "chamfer": 5.098754263599403e-05,
+          "track": 4.1060400690184906e-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": 306,
+        "adam_update_count": 51408
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.040724952006712556
+  },
+  "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_88273f7ac6e34bcab6812cb6ac42d69f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 307,
+  "next_interval": 0,
+  "next_adam_update": 51409,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 306,
+    "trained_intervals": 51408,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51408,
+  "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": -0.8263685703277588,
+      "median": 9.703093528747559,
+      "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": 5.284101486206055,
+      "median": 9.50314998626709,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4376356899738312,
+      "median": 16368.1650390625,
+      "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": 197.17694091796875,
+      "median": 13401.8984375,
+      "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": 4154,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0307.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0307",
+  "executed_epochs": 307,
+  "score": null,
+  "best_score": 5.384933009671451e-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_f91663843cba437cbff54bf5398212da.npz",
+  "optimizer_file": "boundary_f91663843cba437cbff54bf5398212da_optimizer.pt",
+  "arrays_sha256": "29b35e97f595f7235ef4975c27442d9e9d3a788a0458cb983526406338c29424",
+  "optimizer_sha256": "c216525cb47e6fae01581b2b875966b13bc744a8ebc3cc757c5f7773ee354822",
+  "stage": "adam",
+  "completed_passes": 307,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51576,
+  "adam_update_count": 51576,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 308,
+    "consumed_count": 307,
+    "last_submitted_update": 51576,
+    "last_consumed_update": 51408,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51576,
+          "completed_passes": 307,
+          "next_interval": 0,
+          "trained_intervals": 51576,
+          "snapshot": "pass_end_0307",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 307,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51576,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51576,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.1346378414600622e-06,
+            "update_l2": 0.015398749150335789
+          },
+          "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": 4.908308071094325e-08,
+            "update_l2": 0.0009242977830581367
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.144176146946847e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.144176146946847e-05,
+          "observation_loss": 9.144176146946847e-05,
+          "chamfer": 5.056509326095693e-05,
+          "track": 4.0876668208511546e-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": 307,
+        "adam_update_count": 51576
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.047456918051466346
+  },
+  "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_f91663843cba437cbff54bf5398212da_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 308,
+  "next_interval": 0,
+  "next_adam_update": 51577,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 307,
+    "trained_intervals": 51576,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51576,
+  "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": -0.8307863473892212,
+      "median": 9.703121185302734,
+      "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": 5.28079080581665,
+      "median": 9.50120735168457,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.43570655584335327,
+      "median": 16368.6181640625,
+      "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": 196.52523803710938,
+      "median": 13375.94140625,
+      "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": 4162,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0308.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0308",
+  "executed_epochs": 308,
+  "score": null,
+  "best_score": 5.384933009671451e-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_fef52c48f16f45a69883623bba2ee27d.npz",
+  "optimizer_file": "boundary_fef52c48f16f45a69883623bba2ee27d_optimizer.pt",
+  "arrays_sha256": "bb05cc64045c5202937c85995ead9dc55b0aece4b72333217c31af25d95d41ea",
+  "optimizer_sha256": "b75d7dc8cde6d0d9f3c3a91851381d65533fd0e7a4ad5b51b04cc689fbe027dc",
+  "stage": "adam",
+  "completed_passes": 308,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51744,
+  "adam_update_count": 51744,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 309,
+    "consumed_count": 308,
+    "last_submitted_update": 51744,
+    "last_consumed_update": 51576,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51744,
+          "completed_passes": 308,
+          "next_interval": 0,
+          "trained_intervals": 51744,
+          "snapshot": "pass_end_0308",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 308,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51744,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51744,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.098769063100917e-07,
+            "update_l2": 0.0158716831356287
+          },
+          "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": 6.689597142894854e-08,
+            "update_l2": 0.0013647861778736115
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.628884436096996e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.628884436096996e-05,
+          "observation_loss": 9.628884436096996e-05,
+          "chamfer": 5.0444486987544224e-05,
+          "track": 4.584435373544693e-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": 308,
+        "adam_update_count": 51744
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04430493316613138
+  },
+  "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_fef52c48f16f45a69883623bba2ee27d_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 309,
+  "next_interval": 0,
+  "next_adam_update": 51745,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 308,
+    "trained_intervals": 51744,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51744,
+  "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": -0.8348963856697083,
+      "median": 9.703089714050293,
+      "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": 5.277262210845947,
+      "median": 9.500487327575684,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.43391942977905273,
+      "median": 16368.1025390625,
+      "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": 195.83299255371094,
+      "median": 13366.326171875,
+      "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": 4171,
+    "controller_edge_stiffness": 52
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0309.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0309",
+  "executed_epochs": 309,
+  "score": null,
+  "best_score": 5.384933009671451e-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_c5950cddac784e1b8faec67626c2dbb0.npz",
+  "optimizer_file": "boundary_c5950cddac784e1b8faec67626c2dbb0_optimizer.pt",
+  "arrays_sha256": "52a35c64698cc1a602c3ab4214086bd515ed36c9dfb8ce1596a0dbc1885a2612",
+  "optimizer_sha256": "de0222ad359889a0c8472d97bed085621169ed70e8da5abf3c94f344949bddcf",
+  "stage": "adam",
+  "completed_passes": 309,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51912,
+  "adam_update_count": 51912,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 310,
+    "consumed_count": 309,
+    "last_submitted_update": 51912,
+    "last_consumed_update": 51744,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51912,
+          "completed_passes": 309,
+          "next_interval": 0,
+          "trained_intervals": 51912,
+          "snapshot": "pass_end_0309",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 309,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51912,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51912,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.795284323539818e-07,
+            "update_l2": 0.015611032955348492
+          },
+          "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": 6.630784810113255e-08,
+            "update_l2": 0.0013136377092450857
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.556679287925363e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.556679287925363e-05,
+          "observation_loss": 9.556679287925363e-05,
+          "chamfer": 5.012523251934908e-05,
+          "track": 4.5441556721925735e-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": 309,
+        "adam_update_count": 51912
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04088943707756698
+  },
+  "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_c5950cddac784e1b8faec67626c2dbb0_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 310,
+  "next_interval": 0,
+  "next_adam_update": 51913,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 309,
+    "trained_intervals": 51912,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51912,
+  "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": -0.8390887975692749,
+      "median": 9.70324420928955,
+      "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": 5.274007797241211,
+      "median": 9.499788284301758,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.43210411071777344,
+      "median": 16370.630859375,
+      "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": 195.19671630859375,
+      "median": 13357.001953125,
+      "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": 4183,
+    "controller_edge_stiffness": 53
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0310.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0310",
+  "executed_epochs": 310,
+  "score": null,
+  "best_score": 5.384933009671451e-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_6cf18f5580eb45fb95efb30cbc269ecf.npz",
+  "optimizer_file": "boundary_6cf18f5580eb45fb95efb30cbc269ecf_optimizer.pt",
+  "arrays_sha256": "6c3cd36eb200db15a53b87356e9130f9a398f237527b08dd9a650626c1db9952",
+  "optimizer_sha256": "4bd53638c55eaa464ed84171f7194ed5f7d9bbb0cd4fc9c0a30b73e7ddad9612",
+  "stage": "adam",
+  "completed_passes": 310,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52080,
+  "adam_update_count": 52080,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 311,
+    "consumed_count": 310,
+    "last_submitted_update": 52080,
+    "last_consumed_update": 51912,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52080,
+          "completed_passes": 310,
+          "next_interval": 0,
+          "trained_intervals": 52080,
+          "snapshot": "pass_end_0310",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50736,
+  "pass_science": {
+    "completed_passes": 310,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52080,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52080,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.096910851738357e-07,
+            "update_l2": 0.015882976353168488
+          },
+          "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": 6.541734620668649e-08,
+            "update_l2": 0.0011823932873085141
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.508104994893074e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.508104994893074e-05,
+          "observation_loss": 9.508104994893074e-05,
+          "chamfer": 5.00330570503138e-05,
+          "track": 4.504799289861694e-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": 310,
+        "adam_update_count": 52080
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041207344038411975
+  },
+  "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_6cf18f5580eb45fb95efb30cbc269ecf_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 311,
+  "next_interval": 0,
+  "next_adam_update": 52081,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 310,
+    "trained_intervals": 52080,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52080,
+  "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": -0.8432329893112183,
+      "median": 9.703307151794434,
+      "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": 5.270628929138184,
+      "median": 9.499096870422363,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.43031707406044006,
+      "median": 16371.6611328125,
+      "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": 194.5382843017578,
+      "median": 13347.7734375,
+      "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": 4193,
+    "controller_edge_stiffness": 53
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0311.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0311",
+  "executed_epochs": 311,
+  "score": null,
+  "best_score": 5.3651079919550936e-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_94c55a8fce304a7487050f6f8e6dd4af.npz",
+  "optimizer_file": "boundary_94c55a8fce304a7487050f6f8e6dd4af_optimizer.pt",
+  "arrays_sha256": "5ad6d34c1c64466184cff6312c6286d5803686cf3a019eea04850a8006461ebb",
+  "optimizer_sha256": "e2753e43c671f4b27ceafad0d69ebcaf93a647ab2c99cae5c2dd4a92799c057a",
+  "stage": "adam",
+  "completed_passes": 311,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52248,
+  "adam_update_count": 52248,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 312,
+    "consumed_count": 311,
+    "last_submitted_update": 52248,
+    "last_consumed_update": 52080,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52248,
+          "completed_passes": 311,
+          "next_interval": 0,
+          "trained_intervals": 52248,
+          "snapshot": "pass_end_0311",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52080,
+  "pass_science": {
+    "completed_passes": 311,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52248,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52248,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.124808464846865e-07,
+            "update_l2": 0.014604219235479832
+          },
+          "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": 4.8791683582294354e-08,
+            "update_l2": 0.0009300192468799651
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.184540249407291e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.184540249407291e-05,
+          "observation_loss": 9.184540249407291e-05,
+          "chamfer": 5.0805847422452644e-05,
+          "track": 4.1039551433641464e-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": 311,
+        "adam_update_count": 52248
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04084764304570854
+  },
+  "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_94c55a8fce304a7487050f6f8e6dd4af_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 312,
+  "next_interval": 0,
+  "next_adam_update": 52249,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 311,
+    "trained_intervals": 52248,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52248,
+  "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": -0.847510814666748,
+      "median": 9.703160285949707,
+      "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": 5.267322063446045,
+      "median": 9.498540878295898,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4284801781177521,
+      "median": 16369.2578125,
+      "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": 193.89602661132812,
+      "median": 13340.35546875,
+      "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": 4213,
+    "controller_edge_stiffness": 53
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0312.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0312",
+  "executed_epochs": 312,
+  "score": null,
+  "best_score": 5.359058878812426e-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_2160a27dc653464e99867206c6f06219.npz",
+  "optimizer_file": "boundary_2160a27dc653464e99867206c6f06219_optimizer.pt",
+  "arrays_sha256": "e0c5da3c795a50dbd2467095876034adafdfef114e86c65d3ca835ce7f2c0e1b",
+  "optimizer_sha256": "91aef123fa017bf31e3727be8c479987647aeeb9991614f67584ee901ae18391",
+  "stage": "adam",
+  "completed_passes": 312,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52416,
+  "adam_update_count": 52416,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 313,
+    "consumed_count": 312,
+    "last_submitted_update": 52416,
+    "last_consumed_update": 52248,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52416,
+          "completed_passes": 312,
+          "next_interval": 0,
+          "trained_intervals": 52416,
+          "snapshot": "pass_end_0312",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 312,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52416,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52416,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.07751985626237e-07,
+            "update_l2": 0.014897328801453114
+          },
+          "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": 4.728581615154326e-08,
+            "update_l2": 0.0009271721937693655
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.21997707337141e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.21997707337141e-05,
+          "observation_loss": 9.21997707337141e-05,
+          "chamfer": 5.051604603067972e-05,
+          "track": 4.168372106505558e-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": 312,
+        "adam_update_count": 52416
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04383798502385616
+  },
+  "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_2160a27dc653464e99867206c6f06219_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 313,
+  "next_interval": 0,
+  "next_adam_update": 52417,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 312,
+    "trained_intervals": 52416,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52416,
+  "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": -0.852074146270752,
+      "median": 9.703313827514648,
+      "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": 5.264012336730957,
+      "median": 9.497943878173828,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.42652931809425354,
+      "median": 16371.7705078125,
+      "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": 193.25535583496094,
+      "median": 13332.41015625,
+      "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": 4221,
+    "controller_edge_stiffness": 53
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0313.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0313",
+  "executed_epochs": 313,
+  "score": null,
+  "best_score": 5.359058878812426e-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_9dabe48ecbfa4fc8a0d6f878075de36e.npz",
+  "optimizer_file": "boundary_9dabe48ecbfa4fc8a0d6f878075de36e_optimizer.pt",
+  "arrays_sha256": "89949800f5e23a2d6419720c4cf3aa5530533dc63972bab2e3c255750e1ed544",
+  "optimizer_sha256": "c9bee48f469f2f13304c2b7b02284c8f8c928c6e6d3ce6e5a78367673e5db5c8",
+  "stage": "adam",
+  "completed_passes": 313,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52584,
+  "adam_update_count": 52584,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 314,
+    "consumed_count": 313,
+    "last_submitted_update": 52584,
+    "last_consumed_update": 52416,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52584,
+          "completed_passes": 313,
+          "next_interval": 0,
+          "trained_intervals": 52584,
+          "snapshot": "pass_end_0313",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 313,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52584,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52584,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.075857979543798e-07,
+            "update_l2": 0.01423866767436266
+          },
+          "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": 4.793638197497785e-08,
+            "update_l2": 0.0008662797627039254
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.145995136350393e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.145995136350393e-05,
+          "observation_loss": 9.145995136350393e-05,
+          "chamfer": 5.037299342802726e-05,
+          "track": 4.108696157345548e-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": 313,
+        "adam_update_count": 52584
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.040766485035419464
+  },
+  "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_9dabe48ecbfa4fc8a0d6f878075de36e_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 314,
+  "next_interval": 0,
+  "next_adam_update": 52585,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 313,
+    "trained_intervals": 52584,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52584,
+  "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": -0.8564437627792358,
+      "median": 9.703323364257812,
+      "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": 5.2607316970825195,
+      "median": 9.497383117675781,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.42466962337493896,
+      "median": 16371.9267578125,
+      "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": 192.6223907470703,
+      "median": 13324.9375,
+      "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": 4234,
+    "controller_edge_stiffness": 54
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0314.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0314",
+  "executed_epochs": 314,
+  "score": null,
+  "best_score": 5.359058878812426e-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_6e9725b3719646e49a7301d8ed19bf38.npz",
+  "optimizer_file": "boundary_6e9725b3719646e49a7301d8ed19bf38_optimizer.pt",
+  "arrays_sha256": "9ffdfd886d8eefd91b240dd427aa3058226fa63df2318c30799b6b63b9fe3846",
+  "optimizer_sha256": "3cf470cd650a3ed37f2e7507a10f8b4c13d35b92a2c8ed886327813268f85d60",
+  "stage": "adam",
+  "completed_passes": 314,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52752,
+  "adam_update_count": 52752,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 315,
+    "consumed_count": 314,
+    "last_submitted_update": 52752,
+    "last_consumed_update": 52584,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52752,
+          "completed_passes": 314,
+          "next_interval": 0,
+          "trained_intervals": 52752,
+          "snapshot": "pass_end_0314",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 314,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52752,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52752,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.22418121767987e-07,
+            "update_l2": 0.013792045414447784
+          },
+          "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": 4.8541792807554884e-08,
+            "update_l2": 0.0008892324985936284
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.146711090579629e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.146711090579629e-05,
+          "observation_loss": 9.146711090579629e-05,
+          "chamfer": 5.021888136980124e-05,
+          "track": 4.124823317397386e-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": 314,
+        "adam_update_count": 52752
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041532170958817005
+  },
+  "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_6e9725b3719646e49a7301d8ed19bf38_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 315,
+  "next_interval": 0,
+  "next_adam_update": 52753,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 314,
+    "trained_intervals": 52752,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52752,
+  "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": -0.8605671525001526,
+      "median": 9.703474998474121,
+      "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": 5.258181095123291,
+      "median": 9.496792793273926,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.42292213439941406,
+      "median": 16374.4091796875,
+      "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": 192.1317138671875,
+      "median": 13317.09375,
+      "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": 4244,
+    "controller_edge_stiffness": 54
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0315.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0315",
+  "executed_epochs": 315,
+  "score": null,
+  "best_score": 5.359058878812426e-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_abdd5bd49f24426d97298706b74775b3.npz",
+  "optimizer_file": "boundary_abdd5bd49f24426d97298706b74775b3_optimizer.pt",
+  "arrays_sha256": "ba950f52baff0ba99ee4911624edd42d18ee8eca68f1f8c44056b394c4b620ab",
+  "optimizer_sha256": "ce130489284993e9937df2b0d8ac85a91d512329e176b992a402661bc84b5fb6",
+  "stage": "adam",
+  "completed_passes": 315,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52920,
+  "adam_update_count": 52920,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 316,
+    "consumed_count": 315,
+    "last_submitted_update": 52920,
+    "last_consumed_update": 52752,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52920,
+          "completed_passes": 315,
+          "next_interval": 0,
+          "trained_intervals": 52920,
+          "snapshot": "pass_end_0315",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 315,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52920,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52920,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.675454985976103e-07,
+            "update_l2": 0.014167839661240578
+          },
+          "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": 4.7182634688169856e-08,
+            "update_l2": 0.0009025880135595798
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.170864359475672e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.170864359475672e-05,
+          "observation_loss": 9.170864359475672e-05,
+          "chamfer": 5.055464498582296e-05,
+          "track": 4.115399860893376e-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": 315,
+        "adam_update_count": 52920
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04159350390546024
+  },
+  "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_abdd5bd49f24426d97298706b74775b3_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 316,
+  "next_interval": 0,
+  "next_adam_update": 52921,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 315,
+    "trained_intervals": 52920,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52920,
+  "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": -0.864641547203064,
+      "median": 9.703572273254395,
+      "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": 5.255020618438721,
+      "median": 9.496278762817383,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.42120251059532166,
+      "median": 16376.0029296875,
+      "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": 191.5254364013672,
+      "median": 13310.2509765625,
+      "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": 4254,
+    "controller_edge_stiffness": 54
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0316.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0316",
+  "executed_epochs": 316,
+  "score": null,
+  "best_score": 5.359058878812426e-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_943dff5ba9c34e2c81effe8db3770f30.npz",
+  "optimizer_file": "boundary_943dff5ba9c34e2c81effe8db3770f30_optimizer.pt",
+  "arrays_sha256": "b1e316c3dfcd43810c2cdd47ae7304cf5ddc3289be98b9db49f7522964c5c907",
+  "optimizer_sha256": "2b4bb11ba9417bf6df325e0dee20afd08e8e3c925b72f5b820f9669398c35493",
+  "stage": "adam",
+  "completed_passes": 316,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53088,
+  "adam_update_count": 53088,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 317,
+    "consumed_count": 316,
+    "last_submitted_update": 53088,
+    "last_consumed_update": 52920,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53088,
+          "completed_passes": 316,
+          "next_interval": 0,
+          "trained_intervals": 53088,
+          "snapshot": "pass_end_0316",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 316,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53088,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53088,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.097554768937698e-07,
+            "update_l2": 0.014477536082267761
+          },
+          "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": 4.984235246752178e-08,
+            "update_l2": 0.0008798078633844852
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.077384311240166e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.077384311240166e-05,
+          "observation_loss": 9.077384311240166e-05,
+          "chamfer": 5.020852404413745e-05,
+          "track": 4.0565319068264216e-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": 316,
+        "adam_update_count": 53088
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041220484068617225
+  },
+  "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_943dff5ba9c34e2c81effe8db3770f30_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 317,
+  "next_interval": 0,
+  "next_adam_update": 53089,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 316,
+    "trained_intervals": 53088,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53088,
+  "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": -0.8686978816986084,
+      "median": 9.703619003295898,
+      "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": 5.251711845397949,
+      "median": 9.49577522277832,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.41949746012687683,
+      "median": 16376.767578125,
+      "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": 190.8927764892578,
+      "median": 13303.5634765625,
+      "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": 4257,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0317.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0317",
+  "executed_epochs": 317,
+  "score": null,
+  "best_score": 5.359058878812426e-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_ae848f963fc04a48850b51642522628f.npz",
+  "optimizer_file": "boundary_ae848f963fc04a48850b51642522628f_optimizer.pt",
+  "arrays_sha256": "f78bd73ff3e7adb64edd7504887f70eef7ec09a5117c65845fc94adad5df8a91",
+  "optimizer_sha256": "7296bac342e1de5f3f06f11a81cba66baa4650089569a18ec6da902170320ff8",
+  "stage": "adam",
+  "completed_passes": 317,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53256,
+  "adam_update_count": 53256,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 318,
+    "consumed_count": 317,
+    "last_submitted_update": 53256,
+    "last_consumed_update": 53088,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53256,
+          "completed_passes": 317,
+          "next_interval": 0,
+          "trained_intervals": 53256,
+          "snapshot": "pass_end_0317",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 52248,
+  "pass_science": {
+    "completed_passes": 317,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53256,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53256,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.152552944309718e-07,
+            "update_l2": 0.014274957589805126
+          },
+          "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": 6.75803448757506e-08,
+            "update_l2": 0.0009855651296675205
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.522197069600224e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.522197069600224e-05,
+          "observation_loss": 9.522197069600224e-05,
+          "chamfer": 4.96904322062619e-05,
+          "track": 4.553153848974034e-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": 317,
+        "adam_update_count": 53256
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.043128329096361995
+  },
+  "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_ae848f963fc04a48850b51642522628f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 318,
+  "next_interval": 0,
+  "next_adam_update": 53257,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 317,
+    "trained_intervals": 53256,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53256,
+  "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": -0.872466504573822,
+      "median": 9.703782081604004,
+      "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": 5.2486162185668945,
+      "median": 9.501028060913086,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.41791948676109314,
+      "median": 16379.4384765625,
+      "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": 190.30276489257812,
+      "median": 13373.47265625,
+      "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": 4269,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0318.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0318",
+  "executed_epochs": 318,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_d0f45069bbf4464e958bc7408db557f5.npz",
+  "optimizer_file": "boundary_d0f45069bbf4464e958bc7408db557f5_optimizer.pt",
+  "arrays_sha256": "b191844e5ca867cdae1e042fae2e435f28db67af6cf0dc011adcae3ba9c6e379",
+  "optimizer_sha256": "e707553a62a67ff9f7f467b64f897be00c4d170e8e9fa84dc253c8e59842040d",
+  "stage": "adam",
+  "completed_passes": 318,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53424,
+  "adam_update_count": 53424,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 319,
+    "consumed_count": 318,
+    "last_submitted_update": 53424,
+    "last_consumed_update": 53256,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53424,
+          "completed_passes": 318,
+          "next_interval": 0,
+          "trained_intervals": 53424,
+          "snapshot": "pass_end_0318",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 318,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53424,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53424,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.793234431119345e-07,
+            "update_l2": 0.014253257773816586
+          },
+          "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": 4.851994717114394e-08,
+            "update_l2": 0.0008522623684257269
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.98452490218915e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.98452490218915e-05,
+          "observation_loss": 8.98452490218915e-05,
+          "chamfer": 4.941397128277458e-05,
+          "track": 4.043127773911692e-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": 318,
+        "adam_update_count": 53424
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04065530002117157
+  },
+  "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_d0f45069bbf4464e958bc7408db557f5_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 319,
+  "next_interval": 0,
+  "next_adam_update": 53425,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 318,
+    "trained_intervals": 53424,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53424,
+  "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": -0.876318097114563,
+      "median": 9.703761100769043,
+      "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": 5.245547294616699,
+      "median": 9.500564575195312,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.41631290316581726,
+      "median": 16379.0947265625,
+      "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": 189.71961975097656,
+      "median": 13367.28125,
+      "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": 4278,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0319.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0319",
+  "executed_epochs": 319,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_5bfb0c1ce7ac4781aa76bb3d48ab6259.npz",
+  "optimizer_file": "boundary_5bfb0c1ce7ac4781aa76bb3d48ab6259_optimizer.pt",
+  "arrays_sha256": "31b7c71981483e1f266f7c0960b0eedc86813922884355b2b7705f68336915e1",
+  "optimizer_sha256": "ad5da71be54b8c0aff08aaf1dc8554c94deda57b226e26ad9365fa665d20a785",
+  "stage": "adam",
+  "completed_passes": 319,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53592,
+  "adam_update_count": 53592,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 320,
+    "consumed_count": 319,
+    "last_submitted_update": 53592,
+    "last_consumed_update": 53424,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53592,
+          "completed_passes": 319,
+          "next_interval": 0,
+          "trained_intervals": 53592,
+          "snapshot": "pass_end_0319",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 319,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53592,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53592,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.375163366101333e-07,
+            "update_l2": 0.013359298929572105
+          },
+          "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": 5.1430465219937105e-08,
+            "update_l2": 0.0008602801826782525
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.017670527100563e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.017670527100563e-05,
+          "observation_loss": 9.017670527100563e-05,
+          "chamfer": 4.981116217095405e-05,
+          "track": 4.036554310005158e-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": 319,
+        "adam_update_count": 53592
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04107424197718501
+  },
+  "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_5bfb0c1ce7ac4781aa76bb3d48ab6259_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 320,
+  "next_interval": 0,
+  "next_adam_update": 53593,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 319,
+    "trained_intervals": 53592,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53592,
+  "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": -0.8802963495254517,
+      "median": 9.703837394714355,
+      "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": 5.2426557540893555,
+      "median": 9.50004768371582,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4146600365638733,
+      "median": 16380.3447265625,
+      "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": 189.1718292236328,
+      "median": 13360.3671875,
+      "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": 4290,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0320.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0320",
+  "executed_epochs": 320,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_39b3cf591ac64b13a2018cb5499f372f.npz",
+  "optimizer_file": "boundary_39b3cf591ac64b13a2018cb5499f372f_optimizer.pt",
+  "arrays_sha256": "2ac59fb09eb7603c8266caa95107d21ac994b0aa7dee841015832ec1125bb561",
+  "optimizer_sha256": "ec8f7e7e96a28ab6c21e37eda77cfe3fb2075cc1b25222354a68cadfe2754771",
+  "stage": "adam",
+  "completed_passes": 320,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53760,
+  "adam_update_count": 53760,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 321,
+    "consumed_count": 320,
+    "last_submitted_update": 53760,
+    "last_consumed_update": 53592,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53760,
+          "completed_passes": 320,
+          "next_interval": 0,
+          "trained_intervals": 53760,
+          "snapshot": "pass_end_0320",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 320,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53760,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53760,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.346695613501652e-07,
+            "update_l2": 0.014254115521907806
+          },
+          "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": 6.289114651281125e-08,
+            "update_l2": 0.0012161668855696917
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.54186252783984e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.54186252783984e-05,
+          "observation_loss": 9.54186252783984e-05,
+          "chamfer": 4.9937632866203785e-05,
+          "track": 4.54809887742158e-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": 320,
+        "adam_update_count": 53760
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04115606495179236
+  },
+  "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_39b3cf591ac64b13a2018cb5499f372f_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 321,
+  "next_interval": 0,
+  "next_adam_update": 53761,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 320,
+    "trained_intervals": 53760,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53760,
+  "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": -0.8841975331306458,
+      "median": 9.703997611999512,
+      "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": 5.239231109619141,
+      "median": 9.49960708618164,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4130455255508423,
+      "median": 16382.96875,
+      "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": 188.5251007080078,
+      "median": 13354.48046875,
+      "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": 4302,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0321.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0321",
+  "executed_epochs": 321,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_6be078aee9e64205b84dff9c45ec830c.npz",
+  "optimizer_file": "boundary_6be078aee9e64205b84dff9c45ec830c_optimizer.pt",
+  "arrays_sha256": "f7a781019d54a3ffcf8343b2e6a281a41aea5fd85f5aebd9d59432b0d08bfdf3",
+  "optimizer_sha256": "bcfa6330d0faeea8bfed93cb8a34363f97a0e022a4484d53134b05123f8ffd5d",
+  "stage": "adam",
+  "completed_passes": 321,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53928,
+  "adam_update_count": 53928,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 322,
+    "consumed_count": 321,
+    "last_submitted_update": 53928,
+    "last_consumed_update": 53760,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53928,
+          "completed_passes": 321,
+          "next_interval": 0,
+          "trained_intervals": 53928,
+          "snapshot": "pass_end_0321",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 321,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53928,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53928,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.268520564844948e-07,
+            "update_l2": 0.014185707084834576
+          },
+          "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": 5.003006364745488e-08,
+            "update_l2": 0.0008758850744925439
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.049334039445966e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.049334039445966e-05,
+          "observation_loss": 9.049334039445966e-05,
+          "chamfer": 4.982360769645311e-05,
+          "track": 4.066973633598536e-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": 321,
+        "adam_update_count": 53928
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.07646048488095403
+  },
+  "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_6be078aee9e64205b84dff9c45ec830c_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 322,
+  "next_interval": 0,
+  "next_adam_update": 53929,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 321,
+    "trained_intervals": 53928,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53928,
+  "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": -0.8880497813224792,
+      "median": 9.70406723022461,
+      "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": 5.236117839813232,
+      "median": 9.499150276184082,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4114574193954468,
+      "median": 16384.111328125,
+      "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": 187.9390869140625,
+      "median": 13348.380859375,
+      "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": 4305,
+    "controller_edge_stiffness": 55
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0322.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0322",
+  "executed_epochs": 322,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_55959cd36a4247fdb69e18d4efd676d1.npz",
+  "optimizer_file": "boundary_55959cd36a4247fdb69e18d4efd676d1_optimizer.pt",
+  "arrays_sha256": "e349ecda4b85d32d81e80fd0ec4f7bb48e51f1637a875967b9d241c9c3d248b1",
+  "optimizer_sha256": "0e3277e51dab7ab5c7a2c13cde558e8cf836b257494c1bf2855623c41ae0bb61",
+  "stage": "adam",
+  "completed_passes": 322,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54096,
+  "adam_update_count": 54096,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 323,
+    "consumed_count": 322,
+    "last_submitted_update": 54096,
+    "last_consumed_update": 53928,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54096,
+          "completed_passes": 322,
+          "next_interval": 0,
+          "trained_intervals": 54096,
+          "snapshot": "pass_end_0322",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 322,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54096,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54096,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 7.388906624328229e-07,
+            "update_l2": 0.013566231355071068
+          },
+          "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": 5.038139150315146e-08,
+            "update_l2": 0.0008668141672387719
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.954250370152295e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.954250370152295e-05,
+          "observation_loss": 8.954250370152295e-05,
+          "chamfer": 4.934546450385824e-05,
+          "track": 4.0197042835643515e-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": 322,
+        "adam_update_count": 54096
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.0408848209772259
+  },
+  "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_55959cd36a4247fdb69e18d4efd676d1_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 323,
+  "next_interval": 0,
+  "next_adam_update": 54097,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 322,
+    "trained_intervals": 54096,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54096,
+  "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": -0.8919941186904907,
+      "median": 9.70417308807373,
+      "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": 5.23292875289917,
+      "median": 9.498746871948242,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4098376929759979,
+      "median": 16385.845703125,
+      "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": 187.34068298339844,
+      "median": 13343.00390625,
+      "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": 4314,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0323.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0323",
+  "executed_epochs": 323,
+  "score": null,
+  "best_score": 5.3293260347821893e-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_d652ac44615544899c331d77b471f758.npz",
+  "optimizer_file": "boundary_d652ac44615544899c331d77b471f758_optimizer.pt",
+  "arrays_sha256": "95160efafe4256982df4c6555dcaad0265f2cfb78a311dbc16b7d181cbe7aa2f",
+  "optimizer_sha256": "188c1ab83c1cbe65b9d77d20f0c0d583075c82cfcd58a8e272b15d2f1e7d3dea",
+  "stage": "adam",
+  "completed_passes": 323,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54264,
+  "adam_update_count": 54264,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 324,
+    "consumed_count": 323,
+    "last_submitted_update": 54264,
+    "last_consumed_update": 54096,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54264,
+          "completed_passes": 323,
+          "next_interval": 0,
+          "trained_intervals": 54264,
+          "snapshot": "pass_end_0323",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 323,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54264,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54264,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.936695970376604e-07,
+            "update_l2": 0.014139840379357338
+          },
+          "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": 6.147340769757648e-08,
+            "update_l2": 0.0013024089857935905
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.446432522963732e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.446432522963732e-05,
+          "observation_loss": 9.446432522963732e-05,
+          "chamfer": 4.925881512463093e-05,
+          "track": 4.52055101050064e-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": 323,
+        "adam_update_count": 54264
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04139957902953029
+  },
+  "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_d652ac44615544899c331d77b471f758_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 324,
+  "next_interval": 0,
+  "next_adam_update": 54265,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 323,
+    "trained_intervals": 54264,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54264,
+  "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": -0.8959635496139526,
+      "median": 9.704248428344727,
+      "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": 5.2301435470581055,
+      "median": 9.498153686523438,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4082140624523163,
+      "median": 16387.080078125,
+      "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": 186.8196258544922,
+      "median": 13335.0859375,
+      "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": 4319,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0324.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0324",
+  "executed_epochs": 324,
+  "score": null,
+  "best_score": 5.312517034672921e-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_4af4bd0a683c4c9cbb03701fc65ae8ad.npz",
+  "optimizer_file": "boundary_4af4bd0a683c4c9cbb03701fc65ae8ad_optimizer.pt",
+  "arrays_sha256": "eabee7cfbb37f8683739e15a05c80422fa5e6927e6839016e1b1020e7f1756a7",
+  "optimizer_sha256": "920b0772508fb7974f6cd903c25f90dcbb076dfba6ae0290dd1d0d264b1a8830",
+  "stage": "adam",
+  "completed_passes": 324,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54432,
+  "adam_update_count": 54432,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 325,
+    "consumed_count": 324,
+    "last_submitted_update": 54432,
+    "last_consumed_update": 54264,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54432,
+          "completed_passes": 324,
+          "next_interval": 0,
+          "trained_intervals": 54432,
+          "snapshot": "pass_end_0324",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54264,
+  "pass_science": {
+    "completed_passes": 324,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54432,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54432,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.071487064218672e-07,
+            "update_l2": 0.013961562886834145
+          },
+          "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": 4.9394824230830636e-08,
+            "update_l2": 0.0008718316676095128
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.998140401672572e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.998140401672572e-05,
+          "observation_loss": 8.998140401672572e-05,
+          "chamfer": 4.980486482963897e-05,
+          "track": 4.017653554910794e-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": 324,
+        "adam_update_count": 54432
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.040513467974960804
+  },
+  "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_4af4bd0a683c4c9cbb03701fc65ae8ad_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 325,
+  "next_interval": 0,
+  "next_adam_update": 54433,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 324,
+    "trained_intervals": 54432,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54432,
+  "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": -0.8995974063873291,
+      "median": 9.704362869262695,
+      "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": 5.227641582489014,
+      "median": 9.497587203979492,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4067333936691284,
+      "median": 16388.953125,
+      "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": 186.352783203125,
+      "median": 13327.5380859375,
+      "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": 4327,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0325.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0325",
+  "executed_epochs": 325,
+  "score": null,
+  "best_score": 5.309225645890235e-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_dc4ffae97a114bf68e6c8739633867f1.npz",
+  "optimizer_file": "boundary_dc4ffae97a114bf68e6c8739633867f1_optimizer.pt",
+  "arrays_sha256": "8e39b261de42ab23bc88c82046eada13da91900a6383879981a30a0acc1c8bea",
+  "optimizer_sha256": "d91951cdfb9df47b5d7469c38d4f0c89f5878fa469273d268297fee613aeb362",
+  "stage": "adam",
+  "completed_passes": 325,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54600,
+  "adam_update_count": 54600,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 326,
+    "consumed_count": 325,
+    "last_submitted_update": 54600,
+    "last_consumed_update": 54432,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54600,
+          "completed_passes": 325,
+          "next_interval": 0,
+          "trained_intervals": 54600,
+          "snapshot": "pass_end_0325",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54432,
+  "pass_science": {
+    "completed_passes": 325,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54600,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54600,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 4.489135392304888e-07,
+            "update_l2": 0.01263049989938736
+          },
+          "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": 5.029588834304377e-08,
+            "update_l2": 0.0008662847685627639
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.896766667021438e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.896766667021438e-05,
+          "observation_loss": 8.896766667021438e-05,
+          "chamfer": 4.893045115750283e-05,
+          "track": 4.0037215512711555e-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": 325,
+        "adam_update_count": 54600
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.0405892850831151
+  },
+  "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_dc4ffae97a114bf68e6c8739633867f1_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 326,
+  "next_interval": 0,
+  "next_adam_update": 54601,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 325,
+    "trained_intervals": 54600,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54600,
+  "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": -0.9034740328788757,
+      "median": 9.704340934753418,
+      "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": 5.224483013153076,
+      "median": 9.497196197509766,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.40515971183776855,
+      "median": 16388.595703125,
+      "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": 185.76512145996094,
+      "median": 13322.31640625,
+      "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": 4341,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0326.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0326",
+  "executed_epochs": 326,
+  "score": null,
+  "best_score": 5.2947016819243365e-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_1bb8b68f61f84c34a832acfc49d14ce3.npz",
+  "optimizer_file": "boundary_1bb8b68f61f84c34a832acfc49d14ce3_optimizer.pt",
+  "arrays_sha256": "93d23630686a1753bf5f81fe63641c9a99d11e9cae9024625312fb0242f9a519",
+  "optimizer_sha256": "4940e77322132802fbada77e3d360d7453fc4418b1e8b77438cf56328d70e1b4",
+  "stage": "adam",
+  "completed_passes": 326,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54768,
+  "adam_update_count": 54768,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 327,
+    "consumed_count": 326,
+    "last_submitted_update": 54768,
+    "last_consumed_update": 54600,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54768,
+          "completed_passes": 326,
+          "next_interval": 0,
+          "trained_intervals": 54768,
+          "snapshot": "pass_end_0326",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54600,
+  "pass_science": {
+    "completed_passes": 326,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54768,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54768,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.918640795243846e-07,
+            "update_l2": 0.013421003706753254
+          },
+          "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": 5.097160737932427e-08,
+            "update_l2": 0.0008406333508901298
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.952531788963825e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.952531788963825e-05,
+          "observation_loss": 8.952531788963825e-05,
+          "chamfer": 4.940453072777018e-05,
+          "track": 4.0120787161868066e-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": 326,
+        "adam_update_count": 54768
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04177870601415634
+  },
+  "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_1bb8b68f61f84c34a832acfc49d14ce3_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 327,
+  "next_interval": 0,
+  "next_adam_update": 54769,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 326,
+    "trained_intervals": 54768,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54768,
+  "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": -0.9072529673576355,
+      "median": 9.704389572143555,
+      "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": 5.221307754516602,
+      "median": 9.49679183959961,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.4036314785480499,
+      "median": 16389.392578125,
+      "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": 185.1761932373047,
+      "median": 13316.943359375,
+      "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": 4349,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0327.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0327",
+  "executed_epochs": 327,
+  "score": null,
+  "best_score": 5.2947016819243365e-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_e93009d59dce4dd5a35de8ee96a3130a.npz",
+  "optimizer_file": "boundary_e93009d59dce4dd5a35de8ee96a3130a_optimizer.pt",
+  "arrays_sha256": "9cb76e1a6c96c8cad64b18c08da57c7a48386800cd0a368edd7fdf4389d3d73d",
+  "optimizer_sha256": "d84c39fa3f059b1e8d5524f21e08f0b05035b8aacc99a3188f1201fd34f2ccce",
+  "stage": "adam",
+  "completed_passes": 327,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54936,
+  "adam_update_count": 54936,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 328,
+    "consumed_count": 327,
+    "last_submitted_update": 54936,
+    "last_consumed_update": 54768,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54936,
+          "completed_passes": 327,
+          "next_interval": 0,
+          "trained_intervals": 54936,
+          "snapshot": "pass_end_0327",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54600,
+  "pass_science": {
+    "completed_passes": 327,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54936,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54936,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.861688805453014e-07,
+            "update_l2": 0.01343859639018774
+          },
+          "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": 5.0747580360166467e-08,
+            "update_l2": 0.0008692931151017547
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.87422647792846e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.87422647792846e-05,
+          "observation_loss": 8.87422647792846e-05,
+          "chamfer": 4.877426545135677e-05,
+          "track": 3.996799932792783e-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": 327,
+        "adam_update_count": 54936
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.041440933011472225
+  },
+  "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_e93009d59dce4dd5a35de8ee96a3130a_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 328,
+  "next_interval": 0,
+  "next_adam_update": 54937,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 327,
+    "trained_intervals": 54936,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54936,
+  "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": -0.9110521674156189,
+      "median": 9.704492568969727,
+      "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": 5.21818733215332,
+      "median": 9.496374130249023,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.40210092067718506,
+      "median": 16391.080078125,
+      "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": 184.59927368164062,
+      "median": 13311.369140625,
+      "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": 4359,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0328.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0328",
+  "executed_epochs": 328,
+  "score": null,
+  "best_score": 5.2947016819243365e-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_87c3b37436c54b099de80fa6ff250372.npz",
+  "optimizer_file": "boundary_87c3b37436c54b099de80fa6ff250372_optimizer.pt",
+  "arrays_sha256": "0c1e76624246ce27c0485d900b832e01e9465d1e4a3dfe003f193aa502baafc3",
+  "optimizer_sha256": "bbbd440a8f3800e3f534896754b67b86e5244a7780fc4b7ae030e9a45956dfe1",
+  "stage": "adam",
+  "completed_passes": 328,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 55104,
+  "adam_update_count": 55104,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 329,
+    "consumed_count": 328,
+    "last_submitted_update": 55104,
+    "last_consumed_update": 54936,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 55104,
+          "completed_passes": 328,
+          "next_interval": 0,
+          "trained_intervals": 55104,
+          "snapshot": "pass_end_0328",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54600,
+  "pass_science": {
+    "completed_passes": 328,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 55104,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 55104,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.176891590963351e-07,
+            "update_l2": 0.014401319436728954
+          },
+          "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": 5.131699154503622e-08,
+            "update_l2": 0.0009517853613942862
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.839069050736725e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.839069050736725e-05,
+          "observation_loss": 8.839069050736725e-05,
+          "chamfer": 4.8588786739856005e-05,
+          "track": 3.980190012953244e-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": 328,
+        "adam_update_count": 55104
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04079473181627691
+  },
+  "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_87c3b37436c54b099de80fa6ff250372_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 329,
+  "next_interval": 0,
+  "next_adam_update": 55105,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 328,
+    "trained_intervals": 55104,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 55104,
+  "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": -0.9148487448692322,
+      "median": 9.704692840576172,
+      "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": 5.215084552764893,
+      "median": 9.495948791503906,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.40057724714279175,
+      "median": 16394.36328125,
+      "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": 184.0273895263672,
+      "median": 13305.720703125,
+      "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": 4371,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0329.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0329",
+  "executed_epochs": 329,
+  "score": null,
+  "best_score": 5.2947016819243365e-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_f8f5121e39464bed99251d0d2a1e9734.npz",
+  "optimizer_file": "boundary_f8f5121e39464bed99251d0d2a1e9734_optimizer.pt",
+  "arrays_sha256": "bff9bebec0d02f345fb4eee45e3505bf68132f1c4e6198f50d1a7f3dac325d8e",
+  "optimizer_sha256": "396f890161501872a51c812495536b047c78b044362ebfaca617ccb51705c85a",
+  "stage": "adam",
+  "completed_passes": 329,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 55272,
+  "adam_update_count": 55272,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 330,
+    "consumed_count": 329,
+    "last_submitted_update": 55272,
+    "last_consumed_update": 55104,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 55272,
+          "completed_passes": 329,
+          "next_interval": 0,
+          "trained_intervals": 55272,
+          "snapshot": "pass_end_0329",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 54600,
+  "pass_science": {
+    "completed_passes": 329,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 55272,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 55272,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 5.79825211843854e-07,
+            "update_l2": 0.01433879230171442
+          },
+          "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": 6.019173071081241e-08,
+            "update_l2": 0.0011752973077818751
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 9.400225826539099e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 9.400225826539099e-05,
+          "observation_loss": 9.400225826539099e-05,
+          "chamfer": 4.9118705646833405e-05,
+          "track": 4.488354898057878e-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": 329,
+        "adam_update_count": 55272
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04079786199145019
+  },
+  "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_f8f5121e39464bed99251d0d2a1e9734_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 330,
+  "next_interval": 0,
+  "next_adam_update": 55273,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 329,
+    "trained_intervals": 55272,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 55272,
+  "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": -0.9185071587562561,
+      "median": 9.704690933227539,
+      "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": 5.212114334106445,
+      "median": 9.495460510253906,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.3991144299507141,
+      "median": 16394.33203125,
+      "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": 183.48159790039062,
+      "median": 13299.224609375,
+      "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": 4381,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0330.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0330",
+  "executed_epochs": 330,
+  "score": null,
+  "best_score": 5.27931592408831e-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_93932dcdbcc74b1f8eeb71de80163b9a.npz",
+  "optimizer_file": "boundary_93932dcdbcc74b1f8eeb71de80163b9a_optimizer.pt",
+  "arrays_sha256": "ddae5bcfe51da3c60052286b3202482ceee4500e8ec466238740518820a23fd3",
+  "optimizer_sha256": "af37f0eb5ec219ab8e9745b5c8fb0eb761563071d295af0ed1b0f62fa27119a6",
+  "stage": "adam",
+  "completed_passes": 330,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 55440,
+  "adam_update_count": 55440,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 331,
+    "consumed_count": 330,
+    "last_submitted_update": 55440,
+    "last_consumed_update": 55272,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 55440,
+          "completed_passes": 330,
+          "next_interval": 0,
+          "trained_intervals": 55440,
+          "snapshot": "pass_end_0330",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 55272,
+  "pass_science": {
+    "completed_passes": 330,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 55440,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 55440,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 6.169024118207744e-07,
+            "update_l2": 0.013608830980956554
+          },
+          "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": 5.1782421905954834e-08,
+            "update_l2": 0.0008719272445887327
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 8.841375529300421e-05,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 167,
+          "loss": 8.841375529300421e-05,
+          "observation_loss": 8.841375529300421e-05,
+          "chamfer": 4.866439485340379e-05,
+          "track": 3.974936043960042e-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": 330,
+        "adam_update_count": 55440
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.04049803200177848
+  },
+  "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_93932dcdbcc74b1f8eeb71de80163b9a_rng.pt",
+  "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 331,
+  "next_interval": 0,
+  "next_adam_update": 55441,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 330,
+    "trained_intervals": 55440,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 55440,
+  "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": -0.9220695495605469,
+      "median": 9.704743385314941,
+      "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": 5.209127902984619,
+      "median": 9.494455337524414,
+      "max": 11.524574279785156,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.3976951539516449,
+      "median": 16395.193359375,
+      "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": 182.93446350097656,
+      "median": 13285.8583984375,
+      "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": 4391,
+    "controller_edge_stiffness": 56
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}