diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0278.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0278.json new file mode 100644 index 0000000000000000000000000000000000000000..780f9efc12215fd4a4bd324c7847ff671fc1a47c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0278.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_0278", + "executed_epochs": 278, + "score": null, + "best_score": 7.3203770133053086e-06, + "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_e01127992756494480f84aeadfdfcd8f.npz", + "optimizer_file": "boundary_e01127992756494480f84aeadfdfcd8f_optimizer.pt", + "arrays_sha256": "2ca56423c7b8df16803a415065c9e989428bd9304f549e627b7d5756add9b985", + "optimizer_sha256": "b77385fb8ba35892a3efb82a604d934928f6504eb394b553b37603239f796739", + "stage": "adam", + "completed_passes": 278, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 26688, + "adam_update_count": 26688, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 279, + "consumed_count": 278, + "last_submitted_update": 26688, + "last_consumed_update": 26592, + "pending": [ + { + "reference": { + "source_update": 26688, + "completed_passes": 278, + "next_interval": 0, + "trained_intervals": 26688, + "snapshot": "pass_end_0278", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 26592, + "pass_science": { + "completed_passes": 278, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 26688, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 26688, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7273940500217577e-07, + "update_l2": 0.005647423677146435 + }, + "raw_ground_friction": { + "gradient_l2": 3.96422365156468e-07, + "update_l2": 0.000673443078994751 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.8284990349902728e-08, + "update_l2": 0.0014583354350179434 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.195071035908768e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.195071035908768e-05, + "observation_loss": 1.195071035908768e-05, + "chamfer": 8.720707228349056e-06, + "track": 3.230002903364948e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 278, + "adam_update_count": 26688 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022482980999484425 + }, + "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_e01127992756494480f84aeadfdfcd8f_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 279, + "next_interval": 0, + "next_adam_update": 26689, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 278, + "trained_intervals": 26688, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 26688, + "source_timestamp_s": 3.2, + "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": 5.272615909576416, + "median": 10.371492385864258, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.42652103304862976, + "median": 0.42652103304862976, + "max": 0.42652103304862976, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.149811744689941, + "median": 10.322340965270996, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 194.9252166748047, + "median": 31936.103515625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1273.8660888671875, + "median": 30404.349609375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.42652103304862976, + "median": 0.42652103304862976, + "max": 0.42652103304862976, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 471, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0279.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0279.json new file mode 100644 index 0000000000000000000000000000000000000000..211fb4736e1e9bda82504eaee8d4d32bdf82f6ae --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0279.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_0279", + "executed_epochs": 279, + "score": null, + "best_score": 7.316406441285987e-06, + "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_ca5ab59ac2284b2ab54caa2f047a75b1.npz", + "optimizer_file": "boundary_ca5ab59ac2284b2ab54caa2f047a75b1_optimizer.pt", + "arrays_sha256": "a7587808b5136cebaf7403a401a1779c7f768afe254c82d85744ee62be71b9ec", + "optimizer_sha256": "23c25705735c2196f93577b1da8f3a4855273948b1f4552c95ab10b0a600cfb5", + "stage": "adam", + "completed_passes": 279, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 26784, + "adam_update_count": 26784, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 280, + "consumed_count": 279, + "last_submitted_update": 26784, + "last_consumed_update": 26688, + "pending": [ + { + "reference": { + "source_update": 26784, + "completed_passes": 279, + "next_interval": 0, + "trained_intervals": 26784, + "snapshot": "pass_end_0279", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 26688, + "pass_science": { + "completed_passes": 279, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 26784, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 26784, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7177217159769498e-07, + "update_l2": 0.005595880094915628 + }, + "raw_ground_friction": { + "gradient_l2": 4.119387426726462e-07, + "update_l2": 0.0006723403930664062 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.8174071076136897e-08, + "update_l2": 0.0014494508504867554 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1935199836443644e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1935199836443644e-05, + "observation_loss": 1.1935199836443644e-05, + "chamfer": 8.7109829109977e-06, + "track": 3.224216925445944e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 279, + "adam_update_count": 26784 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.0225817160007864 + }, + "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_ca5ab59ac2284b2ab54caa2f047a75b1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 280, + "next_interval": 0, + "next_adam_update": 26785, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 279, + "trained_intervals": 26784, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 26784, + "source_timestamp_s": 3.2, + "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": 5.270847320556641, + "median": 10.371502876281738, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4268704056739807, + "median": 0.4268704056739807, + "max": 0.4268704056739807, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.1468119621276855, + "median": 10.32231616973877, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 194.5807647705078, + "median": 31936.435546875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1270.050537109375, + "median": 30403.595703125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4268704056739807, + "median": 0.4268704056739807, + "max": 0.4268704056739807, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 474, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0280.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0280.json new file mode 100644 index 0000000000000000000000000000000000000000..3580317141a5bcdf40207e2fe66dbcd098c209b9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0280.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_0280", + "executed_epochs": 280, + "score": null, + "best_score": 7.313309545509128e-06, + "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_103d346e29d6488c8fec0f29f9151409.npz", + "optimizer_file": "boundary_103d346e29d6488c8fec0f29f9151409_optimizer.pt", + "arrays_sha256": "5fce91a2a56cfe7ef1cd04905acc08e6a5d9bb9132a264d3f585085de3f89823", + "optimizer_sha256": "41322e1f3ee8897ef877f26f5fb371be676cd8f253c98bc0e1965e044ed75452", + "stage": "adam", + "completed_passes": 280, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 26880, + "adam_update_count": 26880, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 281, + "consumed_count": 280, + "last_submitted_update": 26880, + "last_consumed_update": 26784, + "pending": [ + { + "reference": { + "source_update": 26880, + "completed_passes": 280, + "next_interval": 0, + "trained_intervals": 26880, + "snapshot": "pass_end_0280", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 26784, + "pass_science": { + "completed_passes": 280, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 26880, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 26880, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7650198458341038e-07, + "update_l2": 0.005621043965220451 + }, + "raw_ground_friction": { + "gradient_l2": 7.364156431322044e-07, + "update_l2": 0.0006844401359558105 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.8204768298678573e-08, + "update_l2": 0.0014494345523416996 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.192138824990252e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.192138824990252e-05, + "observation_loss": 1.192138824990252e-05, + "chamfer": 8.702223567524925e-06, + "track": 3.2191646823775955e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 280, + "adam_update_count": 26880 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022403775999919162 + }, + "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_103d346e29d6488c8fec0f29f9151409_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 281, + "next_interval": 0, + "next_adam_update": 26881, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 280, + "trained_intervals": 26880, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 26880, + "source_timestamp_s": 3.2, + "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": 5.269010066986084, + "median": 10.371832847595215, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4274110794067383, + "median": 0.4274110794067383, + "max": 0.4274110794067383, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.143840312957764, + "median": 10.322294235229492, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 194.22360229492188, + "median": 31946.9765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1266.2821044921875, + "median": 30402.9296875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4274110794067383, + "median": 0.4274110794067383, + "max": 0.4274110794067383, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 476, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0281.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0281.json new file mode 100644 index 0000000000000000000000000000000000000000..462ab94dcde3bbc0816723098dbe863d3476f43b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.309324184726999e-06, + "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_7841ac9523a14861beb02d990aba8b11.npz", + "optimizer_file": "boundary_7841ac9523a14861beb02d990aba8b11_optimizer.pt", + "arrays_sha256": "2079f9504f3cc3aca8908f7e0dc6118c966e424e55975c3a233f6c1ee0cfd161", + "optimizer_sha256": "196720e083e53b8634ed4dc21b6418ca9d55b9a0e3731b432714a00dfcb88c30", + "stage": "adam", + "completed_passes": 281, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 26976, + "adam_update_count": 26976, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 282, + "consumed_count": 281, + "last_submitted_update": 26976, + "last_consumed_update": 26880, + "pending": [ + { + "reference": { + "source_update": 26976, + "completed_passes": 281, + "next_interval": 0, + "trained_intervals": 26976, + "snapshot": "pass_end_0281", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 26880, + "pass_science": { + "completed_passes": 281, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 26976, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 26976, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7163822008114948e-07, + "update_l2": 0.005546293221414089 + }, + "raw_ground_friction": { + "gradient_l2": 8.671323143971676e-07, + "update_l2": 0.0006887912750244141 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7346571229713845e-08, + "update_l2": 0.0014434235636144876 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.190808143292088e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.190808143292088e-05, + "observation_loss": 1.190808143292088e-05, + "chamfer": 8.694293683220167e-06, + "track": 3.2137879770743893e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 281, + "adam_update_count": 26976 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02231542999834346 + }, + "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_7841ac9523a14861beb02d990aba8b11_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 282, + "next_interval": 0, + "next_adam_update": 26977, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 281, + "trained_intervals": 26976, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 26976, + "source_timestamp_s": 3.2, + "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": 5.267050266265869, + "median": 10.372007369995117, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.42784303426742554, + "median": 0.42784303426742554, + "max": 0.42784303426742554, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.140778541564941, + "median": 10.322286605834961, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 193.84332275390625, + "median": 31952.552734375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1262.4107666015625, + "median": 30402.697265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.42784303426742554, + "median": 0.42784303426742554, + "max": 0.42784303426742554, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 478, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0282.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0282.json new file mode 100644 index 0000000000000000000000000000000000000000..e351d77b13fbbf00dd02eac3bc31ae12093f5360 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.305642912551018e-06, + "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_f441252a688440feb4bf16b385504b8d.npz", + "optimizer_file": "boundary_f441252a688440feb4bf16b385504b8d_optimizer.pt", + "arrays_sha256": "16f7c4e1b84f75736bed1a26309ded09844781d4b57de17b2425298eba694305", + "optimizer_sha256": "71aca9f23f59f6b7004dade3b4bbea8a870c476622d6cf40770929557496c5dd", + "stage": "adam", + "completed_passes": 282, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27072, + "adam_update_count": 27072, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 283, + "consumed_count": 282, + "last_submitted_update": 27072, + "last_consumed_update": 26976, + "pending": [ + { + "reference": { + "source_update": 27072, + "completed_passes": 282, + "next_interval": 0, + "trained_intervals": 27072, + "snapshot": "pass_end_0282", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 26976, + "pass_science": { + "completed_passes": 282, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27072, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27072, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6801452318304655e-07, + "update_l2": 0.0054956115782260895 + }, + "raw_ground_friction": { + "gradient_l2": 8.655015335534699e-07, + "update_l2": 0.0006842613220214844 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.6974214861752444e-08, + "update_l2": 0.0014385769609361887 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1885267667821608e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1885267667821608e-05, + "observation_loss": 1.1885267667821608e-05, + "chamfer": 8.680450264364481e-06, + "track": 3.2048174034571275e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 282, + "adam_update_count": 27072 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022416978999899584 + }, + "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_f441252a688440feb4bf16b385504b8d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 283, + "next_interval": 0, + "next_adam_update": 27073, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 282, + "trained_intervals": 27072, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27072, + "source_timestamp_s": 3.2, + "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": 5.264906883239746, + "median": 10.372262001037598, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4282252788543701, + "median": 0.4282252788543701, + "max": 0.4282252788543701, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.137604713439941, + "median": 10.32227897644043, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 193.4282989501953, + "median": 31960.69140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1258.4105224609375, + "median": 30402.46484375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4282252788543701, + "median": 0.4282252788543701, + "max": 0.4282252788543701, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 481, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0283.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0283.json new file mode 100644 index 0000000000000000000000000000000000000000..486310a95c341877aa761bfdeef3f935463b587a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.301599685168488e-06, + "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_3857711a2bf54b93ab528dd3176aaa77.npz", + "optimizer_file": "boundary_3857711a2bf54b93ab528dd3176aaa77_optimizer.pt", + "arrays_sha256": "f929f8871dc88a4a37ed43c97f898e71b529868c410cadc4d4d3061b01d5aedb", + "optimizer_sha256": "6c682cdce6d1983ba1c0149508ab9256956c10a222eab9291a8bbe9253821e9b", + "stage": "adam", + "completed_passes": 283, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27168, + "adam_update_count": 27168, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 284, + "consumed_count": 283, + "last_submitted_update": 27168, + "last_consumed_update": 27072, + "pending": [ + { + "reference": { + "source_update": 27168, + "completed_passes": 283, + "next_interval": 0, + "trained_intervals": 27168, + "snapshot": "pass_end_0283", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27072, + "pass_science": { + "completed_passes": 283, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27168, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27168, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6659762991366733e-07, + "update_l2": 0.005497992970049381 + }, + "raw_ground_friction": { + "gradient_l2": 8.285991839329654e-07, + "update_l2": 0.0006816387176513672 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7316914952280058e-08, + "update_l2": 0.0014428067952394485 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1868345609400421e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1868345609400421e-05, + "observation_loss": 1.1868345609400421e-05, + "chamfer": 8.67069775267737e-06, + "track": 3.197648084096727e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 283, + "adam_update_count": 27168 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022354365000865073 + }, + "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_3857711a2bf54b93ab528dd3176aaa77_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 284, + "next_interval": 0, + "next_adam_update": 27169, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 283, + "trained_intervals": 27168, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27168, + "source_timestamp_s": 3.2, + "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": 5.262691020965576, + "median": 10.37243366241455, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4287463426589966, + "median": 0.4287463426589966, + "max": 0.4287463426589966, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.134434700012207, + "median": 10.322229385375977, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 193.0001678466797, + "median": 31966.17578125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1254.427734375, + "median": 30400.95703125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4287463426589966, + "median": 0.4287463426589966, + "max": 0.4287463426589966, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 483, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0284.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0284.json new file mode 100644 index 0000000000000000000000000000000000000000..f577709e8e9fd3d179b404558644786fb85751cd --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.296869670862331e-06, + "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_9720aba50c654ab5a453b2376353c6ef.npz", + "optimizer_file": "boundary_9720aba50c654ab5a453b2376353c6ef_optimizer.pt", + "arrays_sha256": "a9a14be5f612312bf7bce561c91ddbfe52934ae4b14231d19fcb587a7fe7c207", + "optimizer_sha256": "6c71f549dae413881f9131732f17706d0386d69bcfbfb96cd5d65f5579068751", + "stage": "adam", + "completed_passes": 284, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27264, + "adam_update_count": 27264, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 285, + "consumed_count": 284, + "last_submitted_update": 27264, + "last_consumed_update": 27168, + "pending": [ + { + "reference": { + "source_update": 27264, + "completed_passes": 284, + "next_interval": 0, + "trained_intervals": 27264, + "snapshot": "pass_end_0284", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27168, + "pass_science": { + "completed_passes": 284, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27264, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27264, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.671296985250592e-07, + "update_l2": 0.005486499518156052 + }, + "raw_ground_friction": { + "gradient_l2": 8.37841412248963e-07, + "update_l2": 0.0006808042526245117 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7250882439489033e-08, + "update_l2": 0.0014418571954593062 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1850661394419149e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1850661394419149e-05, + "observation_loss": 1.1850661394419149e-05, + "chamfer": 8.66073060024064e-06, + "track": 3.1899307941785082e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 284, + "adam_update_count": 27264 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02245093499914219 + }, + "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_9720aba50c654ab5a453b2376353c6ef_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 285, + "next_interval": 0, + "next_adam_update": 27265, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 284, + "trained_intervals": 27264, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27264, + "source_timestamp_s": 3.2, + "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": 5.260377407073975, + "median": 10.372559547424316, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4291582703590393, + "median": 0.4291582703590393, + "max": 0.4291582703590393, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.131304740905762, + "median": 10.322271347045898, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 192.5541534423828, + "median": 31970.203125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1250.507568359375, + "median": 30402.234375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4291582703590393, + "median": 0.4291582703590393, + "max": 0.4291582703590393, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 487, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0285.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0285.json new file mode 100644 index 0000000000000000000000000000000000000000..b87dfbcf1c1db10701dedc952549d2611f77f2d8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.292330487018717e-06, + "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_8d45b5a16b9048a7af770af0592101e9.npz", + "optimizer_file": "boundary_8d45b5a16b9048a7af770af0592101e9_optimizer.pt", + "arrays_sha256": "3b1cdcdd18c84163e801e1db970870e135bfac8418ed98a1dc1b779ae38ab43d", + "optimizer_sha256": "fc1f80be4e794ac12a9d813a49fcca6399963ab79852e37ebba0bd67e4694be6", + "stage": "adam", + "completed_passes": 285, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27360, + "adam_update_count": 27360, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 286, + "consumed_count": 285, + "last_submitted_update": 27360, + "last_consumed_update": 27264, + "pending": [ + { + "reference": { + "source_update": 27360, + "completed_passes": 285, + "next_interval": 0, + "trained_intervals": 27360, + "snapshot": "pass_end_0285", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27264, + "pass_science": { + "completed_passes": 285, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27360, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27360, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6722421491977002e-07, + "update_l2": 0.005483867600560188 + }, + "raw_ground_friction": { + "gradient_l2": 8.306776635436108e-07, + "update_l2": 0.0006837844848632812 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7465581808883144e-08, + "update_l2": 0.0014404194662347436 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1830758921860252e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1830758921860252e-05, + "observation_loss": 1.1830758921860252e-05, + "chamfer": 8.649278242955916e-06, + "track": 3.181480678904336e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 285, + "adam_update_count": 27360 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02258391099894652 + }, + "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_8d45b5a16b9048a7af770af0592101e9_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 286, + "next_interval": 0, + "next_adam_update": 27361, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 285, + "trained_intervals": 27360, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27360, + "source_timestamp_s": 3.2, + "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": 5.258059978485107, + "median": 10.372772216796875, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.42962223291397095, + "median": 0.42962223291397095, + "max": 0.42962223291397095, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.1281890869140625, + "median": 10.322385787963867, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 192.10842895507812, + "median": 31977.0, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1246.617431640625, + "median": 30405.712890625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.42962223291397095, + "median": 0.42962223291397095, + "max": 0.42962223291397095, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 491, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0286.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0286.json new file mode 100644 index 0000000000000000000000000000000000000000..661b62d438fa8d1ebe8e23edf5108e9fb81efd02 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.287352116710129e-06, + "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_53b7dab343fb4289831014c52c7e634d.npz", + "optimizer_file": "boundary_53b7dab343fb4289831014c52c7e634d_optimizer.pt", + "arrays_sha256": "cfbb06c20991cdde25ece9bb456fad95db5452ded4b78d33b93792e6f79729d6", + "optimizer_sha256": "caae044e5b22f08d1e86e5f4614660cb8d8f07772b0374fbc406c9ab069dff0f", + "stage": "adam", + "completed_passes": 286, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27456, + "adam_update_count": 27456, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 287, + "consumed_count": 286, + "last_submitted_update": 27456, + "last_consumed_update": 27360, + "pending": [ + { + "reference": { + "source_update": 27456, + "completed_passes": 286, + "next_interval": 0, + "trained_intervals": 27456, + "snapshot": "pass_end_0286", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27360, + "pass_science": { + "completed_passes": 286, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27456, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27456, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.674641509907815e-07, + "update_l2": 0.005467657931149006 + }, + "raw_ground_friction": { + "gradient_l2": 8.462179721391294e-07, + "update_l2": 0.0006811618804931641 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.738340043606513e-08, + "update_l2": 0.0014427127316594124 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1809418538177852e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1809418538177852e-05, + "observation_loss": 1.1809418538177852e-05, + "chamfer": 8.63696368469391e-06, + "track": 3.172454626110266e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 286, + "adam_update_count": 27456 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02232836999974097 + }, + "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_53b7dab343fb4289831014c52c7e634d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 287, + "next_interval": 0, + "next_adam_update": 27457, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 286, + "trained_intervals": 27456, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27456, + "source_timestamp_s": 3.2, + "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": 5.255709171295166, + "median": 10.372835159301758, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43004170060157776, + "median": 0.43004170060157776, + "max": 0.43004170060157776, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.125107288360596, + "median": 10.32244873046875, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 191.6573486328125, + "median": 31979.013671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1242.781494140625, + "median": 30407.625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43004170060157776, + "median": 0.43004170060157776, + "max": 0.43004170060157776, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 494, + "controller_edge_stiffness": 81 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0287.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0287.json new file mode 100644 index 0000000000000000000000000000000000000000..91f432e33bfb92f2476ccf4aa0016fdbbde581f5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.284522261841175e-06, + "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_3af76e40b5444dd5842ed89edbf607e1.npz", + "optimizer_file": "boundary_3af76e40b5444dd5842ed89edbf607e1_optimizer.pt", + "arrays_sha256": "073ae303b54410e30c18b9f6fbbe1184d1f5514ae48511a00df4473ac0a7200e", + "optimizer_sha256": "f183aef79b176d6808153869e15248ef9bbb4fb93de546a4ed45cb574d9c6fe6", + "stage": "adam", + "completed_passes": 287, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27552, + "adam_update_count": 27552, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 288, + "consumed_count": 287, + "last_submitted_update": 27552, + "last_consumed_update": 27456, + "pending": [ + { + "reference": { + "source_update": 27552, + "completed_passes": 287, + "next_interval": 0, + "trained_intervals": 27552, + "snapshot": "pass_end_0287", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27456, + "pass_science": { + "completed_passes": 287, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27552, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27552, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6818286496800283e-07, + "update_l2": 0.005465370137244463 + }, + "raw_ground_friction": { + "gradient_l2": 8.583484714108636e-07, + "update_l2": 0.0006866455078125 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7336978902781084e-08, + "update_l2": 0.0014391650911420584 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.179306400445057e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.179306400445057e-05, + "observation_loss": 1.179306400445057e-05, + "chamfer": 8.62778142618481e-06, + "track": 3.16528257826576e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 287, + "adam_update_count": 27552 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022546209998836275 + }, + "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_3af76e40b5444dd5842ed89edbf607e1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 288, + "next_interval": 0, + "next_adam_update": 27553, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 287, + "trained_intervals": 27552, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27552, + "source_timestamp_s": 3.2, + "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": 5.253347873687744, + "median": 10.373042106628418, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43043988943099976, + "median": 0.43043988943099976, + "max": 0.43043988943099976, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.121979236602783, + "median": 10.322437286376953, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 191.20533752441406, + "median": 31985.6328125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1238.9000244140625, + "median": 30407.279296875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43043988943099976, + "median": 0.43043988943099976, + "max": 0.43043988943099976, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 496, + "controller_edge_stiffness": 82 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0288.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0288.json new file mode 100644 index 0000000000000000000000000000000000000000..bc8c0ee08dfc07896ab02a1ace74a04febeaeb82 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.279480894813635e-06, + "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_bb5e5d356f9547efafe94195155cabf2.npz", + "optimizer_file": "boundary_bb5e5d356f9547efafe94195155cabf2_optimizer.pt", + "arrays_sha256": "6b491142708d8192cb18f4046c3e1311ca21a3c4888270f95fba788703d98989", + "optimizer_sha256": "7777755d9cfc0df399b87558be9dd5cdc5b30e7da80a7e0a762833bf5952bf5e", + "stage": "adam", + "completed_passes": 288, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27648, + "adam_update_count": 27648, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 289, + "consumed_count": 288, + "last_submitted_update": 27648, + "last_consumed_update": 27552, + "pending": [ + { + "reference": { + "source_update": 27648, + "completed_passes": 288, + "next_interval": 0, + "trained_intervals": 27648, + "snapshot": "pass_end_0288", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27552, + "pass_science": { + "completed_passes": 288, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27648, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27648, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.698895886192986e-07, + "update_l2": 0.005463279318064451 + }, + "raw_ground_friction": { + "gradient_l2": 8.72550572239561e-07, + "update_l2": 0.0006886422634124756 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.77139164950313e-08, + "update_l2": 0.0014410375151783228 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1771693607443012e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1771693607443012e-05, + "observation_loss": 1.1771693607443012e-05, + "chamfer": 8.615312253823504e-06, + "track": 3.1563808988721576e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 288, + "adam_update_count": 27648 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022332808999635745 + }, + "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_bb5e5d356f9547efafe94195155cabf2_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 289, + "next_interval": 0, + "next_adam_update": 27649, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 288, + "trained_intervals": 27648, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27648, + "source_timestamp_s": 3.2, + "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": 5.2508955001831055, + "median": 10.373186111450195, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4309042692184448, + "median": 0.4309042692184448, + "max": 0.4309042692184448, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.118837356567383, + "median": 10.322235107421875, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 190.73699951171875, + "median": 31990.23828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1235.0137939453125, + "median": 30401.130859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4309042692184448, + "median": 0.4309042692184448, + "max": 0.4309042692184448, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 499, + "controller_edge_stiffness": 82 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0289.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0289.json new file mode 100644 index 0000000000000000000000000000000000000000..773c8abeb5012fdc844ed66d00a9ee8cae9d9ea1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.275986997494026e-06, + "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_01c87e1234644681b5f5ae9721f31f5d.npz", + "optimizer_file": "boundary_01c87e1234644681b5f5ae9721f31f5d_optimizer.pt", + "arrays_sha256": "348694b4fcba9f1fab312eebe715f1e72fd3a6042bd09275e772c5c380913ab8", + "optimizer_sha256": "34ba2812a8af3918171ff2180db72f7f2c028e57521728ff144e5c2f55dc7451", + "stage": "adam", + "completed_passes": 289, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27744, + "adam_update_count": 27744, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 290, + "consumed_count": 289, + "last_submitted_update": 27744, + "last_consumed_update": 27648, + "pending": [ + { + "reference": { + "source_update": 27744, + "completed_passes": 289, + "next_interval": 0, + "trained_intervals": 27744, + "snapshot": "pass_end_0289", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27648, + "pass_science": { + "completed_passes": 289, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27744, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27744, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7006722430323862e-07, + "update_l2": 0.0054604532197117805 + }, + "raw_ground_friction": { + "gradient_l2": 8.759838010519161e-07, + "update_l2": 0.0006908178329467773 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.775748342287443e-08, + "update_l2": 0.001443486544303596 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1754564184229821e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1754564184229821e-05, + "observation_loss": 1.1754564184229821e-05, + "chamfer": 8.605467883171514e-06, + "track": 3.149096755805658e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 289, + "adam_update_count": 27744 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022506699000587105 + }, + "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_01c87e1234644681b5f5ae9721f31f5d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 290, + "next_interval": 0, + "next_adam_update": 27745, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 289, + "trained_intervals": 27744, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27744, + "source_timestamp_s": 3.2, + "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": 5.2484540939331055, + "median": 10.37339973449707, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43124833703041077, + "median": 0.43124833703041077, + "max": 0.43124833703041077, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.115668773651123, + "median": 10.322225570678711, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 190.27191162109375, + "median": 31997.07421875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1231.106689453125, + "median": 30400.841796875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43124833703041077, + "median": 0.43124833703041077, + "max": 0.43124833703041077, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 501, + "controller_edge_stiffness": 82 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0290.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0290.json new file mode 100644 index 0000000000000000000000000000000000000000..ce2b5f0f1cfd0df7210f7d56d20099f83dcedaf4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.272668230010974e-06, + "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_b123de0fe34742a5b77baea936ed0bb2.npz", + "optimizer_file": "boundary_b123de0fe34742a5b77baea936ed0bb2_optimizer.pt", + "arrays_sha256": "9c293343ca85425467e78a86528701c60820f58ff044024601b46446ccf08fe8", + "optimizer_sha256": "04ba90ba4da508da7cfd9244629f0c1675c283a64ecc7e363d1be43b63da5dc6", + "stage": "adam", + "completed_passes": 290, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27840, + "adam_update_count": 27840, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 291, + "consumed_count": 290, + "last_submitted_update": 27840, + "last_consumed_update": 27744, + "pending": [ + { + "reference": { + "source_update": 27840, + "completed_passes": 290, + "next_interval": 0, + "trained_intervals": 27840, + "snapshot": "pass_end_0290", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27744, + "pass_science": { + "completed_passes": 290, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27840, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27840, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.704227230447941e-07, + "update_l2": 0.0054514119401574135 + }, + "raw_ground_friction": { + "gradient_l2": 8.871631393958523e-07, + "update_l2": 0.0006923377513885498 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7664945889682713e-08, + "update_l2": 0.0014432527823373675 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1734033250831999e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1734033250831999e-05, + "observation_loss": 1.1734033250831999e-05, + "chamfer": 8.593446182203479e-06, + "track": 3.1405872960021952e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 290, + "adam_update_count": 27840 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02296951700009231 + }, + "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_b123de0fe34742a5b77baea936ed0bb2_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 291, + "next_interval": 0, + "next_adam_update": 27841, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 290, + "trained_intervals": 27840, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27840, + "source_timestamp_s": 3.2, + "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": 5.245926856994629, + "median": 10.373588562011719, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43164128065109253, + "median": 0.43164128065109253, + "max": 0.43164128065109253, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.112491607666016, + "median": 10.32221794128418, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 189.79164123535156, + "median": 32003.115234375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1227.201416015625, + "median": 30400.609375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43164128065109253, + "median": 0.43164128065109253, + "max": 0.43164128065109253, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 510, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0291.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0291.json new file mode 100644 index 0000000000000000000000000000000000000000..28e2708014a40fc263eda0ee4950750e45c1b306 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.268873244944037e-06, + "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_89626e086f21401ea3d1ecced753429a.npz", + "optimizer_file": "boundary_89626e086f21401ea3d1ecced753429a_optimizer.pt", + "arrays_sha256": "0a0dc0a14ca6b8be899439f9a929ac72cdf473496687f7eee9d72f18a7b751c0", + "optimizer_sha256": "ec0d2e004d25611036a429aa9dbd76b15aa33965d5bb5e31c943c3d0da8500cd", + "stage": "adam", + "completed_passes": 291, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 27936, + "adam_update_count": 27936, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 292, + "consumed_count": 291, + "last_submitted_update": 27936, + "last_consumed_update": 27840, + "pending": [ + { + "reference": { + "source_update": 27936, + "completed_passes": 291, + "next_interval": 0, + "trained_intervals": 27936, + "snapshot": "pass_end_0291", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27840, + "pass_science": { + "completed_passes": 291, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 27936, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 27936, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6724189322303573e-07, + "update_l2": 0.005454878322780132 + }, + "raw_ground_friction": { + "gradient_l2": 8.744318620301783e-07, + "update_l2": 0.0006929934024810791 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.723676217897264e-08, + "update_l2": 0.0014405761612579226 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1714974789356347e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1714974789356347e-05, + "observation_loss": 1.1714974789356347e-05, + "chamfer": 8.582328518969007e-06, + "track": 3.1326464977610158e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 291, + "adam_update_count": 27936 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022560792000149377 + }, + "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_89626e086f21401ea3d1ecced753429a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 292, + "next_interval": 0, + "next_adam_update": 27937, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 291, + "trained_intervals": 27936, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 27936, + "source_timestamp_s": 3.2, + "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": 5.243403911590576, + "median": 10.373703956604004, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43204963207244873, + "median": 0.43204963207244873, + "max": 0.43204963207244873, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.109319686889648, + "median": 10.32214069366455, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 189.31341552734375, + "median": 32006.80859375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1223.3150634765625, + "median": 30398.259765625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43204963207244873, + "median": 0.43204963207244873, + "max": 0.43204963207244873, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 512, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0292.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0292.json new file mode 100644 index 0000000000000000000000000000000000000000..10ef398115adf4d1ff54905309609801154d3fd0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2649831916275316e-06, + "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_7517e183961247dcbeb46d469f3df479.npz", + "optimizer_file": "boundary_7517e183961247dcbeb46d469f3df479_optimizer.pt", + "arrays_sha256": "0d04df1121d99dc692937ddeb115041bc9c53222eaf78cdc88ec92a03e0a444b", + "optimizer_sha256": "60d93a097465367baed2dcf276a53c8d099cdcdc9d341f207ea66306e1309ece", + "stage": "adam", + "completed_passes": 292, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28032, + "adam_update_count": 28032, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 293, + "consumed_count": 292, + "last_submitted_update": 28032, + "last_consumed_update": 27936, + "pending": [ + { + "reference": { + "source_update": 28032, + "completed_passes": 292, + "next_interval": 0, + "trained_intervals": 28032, + "snapshot": "pass_end_0292", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 27936, + "pass_science": { + "completed_passes": 292, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28032, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28032, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6794638213468716e-07, + "update_l2": 0.005445642862468958 + }, + "raw_ground_friction": { + "gradient_l2": 9.052207587956218e-07, + "update_l2": 0.0006987154483795166 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7188136186850898e-08, + "update_l2": 0.0014409106224775314 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.170003270090092e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.170003270090092e-05, + "observation_loss": 1.170003270090092e-05, + "chamfer": 8.573836566938553e-06, + "track": 3.126196361336042e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 292, + "adam_update_count": 28032 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022358186999554164 + }, + "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_7517e183961247dcbeb46d469f3df479_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 293, + "next_interval": 0, + "next_adam_update": 28033, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 292, + "trained_intervals": 28032, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28032, + "source_timestamp_s": 3.2, + "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": 5.240931510925293, + "median": 10.373888969421387, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4323599934577942, + "median": 0.4323599934577942, + "max": 0.4323599934577942, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.106146812438965, + "median": 10.322135925292969, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 188.845947265625, + "median": 32012.73046875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1219.4398193359375, + "median": 30398.1171875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4323599934577942, + "median": 0.4323599934577942, + "max": 0.4323599934577942, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 513, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0293.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0293.json new file mode 100644 index 0000000000000000000000000000000000000000..5c3c93cc7713aaaa852bae9dd47c1e3d395a7c86 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.260648925940434e-06, + "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_8bd7c47775c8402c9758a31e648a3d9e.npz", + "optimizer_file": "boundary_8bd7c47775c8402c9758a31e648a3d9e_optimizer.pt", + "arrays_sha256": "a578e38ff94e72cfc25e3186be5cadda1cb0413915c3e5e7fc8a9b76d595f613", + "optimizer_sha256": "9d5e8cfea247740277d6936b15fa538dff479072857a820d532b66821ba7351a", + "stage": "adam", + "completed_passes": 293, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28128, + "adam_update_count": 28128, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 294, + "consumed_count": 293, + "last_submitted_update": 28128, + "last_consumed_update": 28032, + "pending": [ + { + "reference": { + "source_update": 28128, + "completed_passes": 293, + "next_interval": 0, + "trained_intervals": 28128, + "snapshot": "pass_end_0293", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28032, + "pass_science": { + "completed_passes": 293, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28128, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28128, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.685420869534937e-07, + "update_l2": 0.005451708100736141 + }, + "raw_ground_friction": { + "gradient_l2": 9.020473044074606e-07, + "update_l2": 0.0006996691226959229 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7440169247938684e-08, + "update_l2": 0.0014402472879737616 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1680839634209406e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1680839634209406e-05, + "observation_loss": 1.1680839634209406e-05, + "chamfer": 8.562645234633237e-06, + "track": 3.1181943995761685e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 293, + "adam_update_count": 28128 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022514047999720788 + }, + "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_8bd7c47775c8402c9758a31e648a3d9e_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 294, + "next_interval": 0, + "next_adam_update": 28129, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 293, + "trained_intervals": 28128, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28128, + "source_timestamp_s": 3.2, + "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": 5.23841667175293, + "median": 10.373982429504395, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4326927959918976, + "median": 0.4326927959918976, + "max": 0.4326927959918976, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.102972030639648, + "median": 10.322131156921387, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 188.3716278076172, + "median": 32015.724609375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1215.574462890625, + "median": 30397.970703125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4326927959918976, + "median": 0.4326927959918976, + "max": 0.4326927959918976, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 514, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0294.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0294.json new file mode 100644 index 0000000000000000000000000000000000000000..ecf0edcffc2e3f11ad85fb30f80f6e017bee0289 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2565294620593095e-06, + "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_2f51c504aec1496bbe81abf2965f4806.npz", + "optimizer_file": "boundary_2f51c504aec1496bbe81abf2965f4806_optimizer.pt", + "arrays_sha256": "6925130bf37f5a30068143415114cf5c25f5a10903b78b247476fc7c95d9432c", + "optimizer_sha256": "449a01cfb65f99f8af85c222604241d3ac2a106862427ebe974afc3f2eef9f20", + "stage": "adam", + "completed_passes": 294, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28224, + "adam_update_count": 28224, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 295, + "consumed_count": 294, + "last_submitted_update": 28224, + "last_consumed_update": 28128, + "pending": [ + { + "reference": { + "source_update": 28224, + "completed_passes": 294, + "next_interval": 0, + "trained_intervals": 28224, + "snapshot": "pass_end_0294", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28128, + "pass_science": { + "completed_passes": 294, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28224, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28224, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6937354985202546e-07, + "update_l2": 0.005430512595921755 + }, + "raw_ground_friction": { + "gradient_l2": 8.947862966124376e-07, + "update_l2": 0.0007011592388153076 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7533793911516113e-08, + "update_l2": 0.0014349269913509488 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.166382116934983e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.166382116934983e-05, + "observation_loss": 1.166382116934983e-05, + "chamfer": 8.552697181585245e-06, + "track": 3.111124215138261e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 294, + "adam_update_count": 28224 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022509037000418175 + }, + "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_2f51c504aec1496bbe81abf2965f4806_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 295, + "next_interval": 0, + "next_adam_update": 28225, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 294, + "trained_intervals": 28224, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28224, + "source_timestamp_s": 3.2, + "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": 5.235915184020996, + "median": 10.374152183532715, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4330654442310333, + "median": 0.4330654442310333, + "max": 0.4330654442310333, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.099812984466553, + "median": 10.322126388549805, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 187.9010009765625, + "median": 32021.158203125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1211.740478515625, + "median": 30397.826171875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4330654442310333, + "median": 0.4330654442310333, + "max": 0.4330654442310333, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 516, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0295.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0295.json new file mode 100644 index 0000000000000000000000000000000000000000..504bbce22b148b303d4d3be3155fbd60cc63415e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2529150851134245e-06, + "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_2de9411eb06e4446b539229c09c1e916.npz", + "optimizer_file": "boundary_2de9411eb06e4446b539229c09c1e916_optimizer.pt", + "arrays_sha256": "4fa23bb38a25e5a37e2bb76c85402fcaac865a55ac07d3ff8be2126fe7deeea3", + "optimizer_sha256": "54149ad43f19b5aa694bb41e5a3be92d395fe6056098f0ed6989a325db2274fb", + "stage": "adam", + "completed_passes": 295, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28320, + "adam_update_count": 28320, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 296, + "consumed_count": 295, + "last_submitted_update": 28320, + "last_consumed_update": 28224, + "pending": [ + { + "reference": { + "source_update": 28320, + "completed_passes": 295, + "next_interval": 0, + "trained_intervals": 28320, + "snapshot": "pass_end_0295", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28224, + "pass_science": { + "completed_passes": 295, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28320, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28320, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6931981861034728e-07, + "update_l2": 0.005411445163190365 + }, + "raw_ground_friction": { + "gradient_l2": 9.005041761156463e-07, + "update_l2": 0.0007002949714660645 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7553625159271178e-08, + "update_l2": 0.0014315377920866013 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1645082850009203e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1645082850009203e-05, + "observation_loss": 1.1645082850009203e-05, + "chamfer": 8.541486749891192e-06, + "track": 3.103595872744336e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 295, + "adam_update_count": 28320 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022350139000991476 + }, + "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_2de9411eb06e4446b539229c09c1e916_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 296, + "next_interval": 0, + "next_adam_update": 28321, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 295, + "trained_intervals": 28320, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28320, + "source_timestamp_s": 3.2, + "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": 5.2334465980529785, + "median": 10.374434471130371, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4333846867084503, + "median": 0.4333846867084503, + "max": 0.4333846867084503, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.096647262573242, + "median": 10.322121620178223, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 187.43771362304688, + "median": 32030.19921875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1207.910400390625, + "median": 30397.6796875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4333846867084503, + "median": 0.4333846867084503, + "max": 0.4333846867084503, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 517, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0296.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0296.json new file mode 100644 index 0000000000000000000000000000000000000000..db1df045255399b933baa70fb821ae69268a763d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.249423234156893e-06, + "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_bcc77c05c30b43b9bb1856f96662dd3e.npz", + "optimizer_file": "boundary_bcc77c05c30b43b9bb1856f96662dd3e_optimizer.pt", + "arrays_sha256": "3b9d3ed9e18928503b6b43c74ae826820f766f7b64e606b718cfe1f07c4e7ecd", + "optimizer_sha256": "8d94cdd827df483cacd52b9a872a267e802038f741656f0ced50448ec187fab7", + "stage": "adam", + "completed_passes": 296, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28416, + "adam_update_count": 28416, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 297, + "consumed_count": 296, + "last_submitted_update": 28416, + "last_consumed_update": 28320, + "pending": [ + { + "reference": { + "source_update": 28416, + "completed_passes": 296, + "next_interval": 0, + "trained_intervals": 28416, + "snapshot": "pass_end_0296", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28320, + "pass_science": { + "completed_passes": 296, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28416, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28416, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6943307912242744e-07, + "update_l2": 0.00540506886318326 + }, + "raw_ground_friction": { + "gradient_l2": 9.02401211533288e-07, + "update_l2": 0.0006998181343078613 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.746470428860448e-08, + "update_l2": 0.0014304548967629671 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1625052138697356e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1625052138697356e-05, + "observation_loss": 1.1625052138697356e-05, + "chamfer": 8.529614206054248e-06, + "track": 3.095437477895757e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 296, + "adam_update_count": 28416 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022468417999334633 + }, + "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_bcc77c05c30b43b9bb1856f96662dd3e_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 297, + "next_interval": 0, + "next_adam_update": 28417, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 296, + "trained_intervals": 28416, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28416, + "source_timestamp_s": 3.2, + "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": 5.230990886688232, + "median": 10.37451457977295, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4337100684642792, + "median": 0.4337100684642792, + "max": 0.4337100684642792, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.093487739562988, + "median": 10.322172164916992, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 186.9779815673828, + "median": 32032.765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1204.0999755859375, + "median": 30399.216796875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4337100684642792, + "median": 0.4337100684642792, + "max": 0.4337100684642792, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 517, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0297.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0297.json new file mode 100644 index 0000000000000000000000000000000000000000..145380128004b61d0c8598b6c9989cea7f8ba1fa --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.24512485798338e-06, + "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_e4ac225595604629bc42f0b0d337e18a.npz", + "optimizer_file": "boundary_e4ac225595604629bc42f0b0d337e18a_optimizer.pt", + "arrays_sha256": "8e9d57025989abf11cb06d392db398b6ff3b632a68f942180e2dfda95558ec31", + "optimizer_sha256": "232c46b333834fecc4ad214c904526b4c1374421ebb4e6920f9a5ef190f1349d", + "stage": "adam", + "completed_passes": 297, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28512, + "adam_update_count": 28512, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 298, + "consumed_count": 297, + "last_submitted_update": 28512, + "last_consumed_update": 28416, + "pending": [ + { + "reference": { + "source_update": 28512, + "completed_passes": 297, + "next_interval": 0, + "trained_intervals": 28512, + "snapshot": "pass_end_0297", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28416, + "pass_science": { + "completed_passes": 297, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28512, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28512, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.687698869545784e-07, + "update_l2": 0.005390643607825041 + }, + "raw_ground_friction": { + "gradient_l2": 8.716748993720103e-07, + "update_l2": 0.0006990730762481689 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.7340767871919525e-08, + "update_l2": 0.0014265717472881079 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1604423889366444e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1604423889366444e-05, + "observation_loss": 1.1604423889366444e-05, + "chamfer": 8.517256901541259e-06, + "track": 3.087166987825185e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 297, + "adam_update_count": 28512 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022264287999860244 + }, + "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_e4ac225595604629bc42f0b0d337e18a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 298, + "next_interval": 0, + "next_adam_update": 28513, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 297, + "trained_intervals": 28512, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28512, + "source_timestamp_s": 3.2, + "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": 5.228452205657959, + "median": 10.374650001525879, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43407925963401794, + "median": 0.43407925963401794, + "max": 0.43407925963401794, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.090336322784424, + "median": 10.322164535522461, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 186.50392150878906, + "median": 32037.103515625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1200.3114013671875, + "median": 30398.986328125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43407925963401794, + "median": 0.43407925963401794, + "max": 0.43407925963401794, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 520, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0298.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0298.json new file mode 100644 index 0000000000000000000000000000000000000000..b1fbb4e704cbcb3f66ad30f9c91bea81b8641d08 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2407944221216285e-06, + "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_d95121a734f84ebf99f70a241801099d.npz", + "optimizer_file": "boundary_d95121a734f84ebf99f70a241801099d_optimizer.pt", + "arrays_sha256": "fe05a0e51f9e2e1023ac86e495aca918ee1becb779313e13568d5628c1b23504", + "optimizer_sha256": "692adde973bfa27d87156091332c8d04224d6b86a10576966803280375d6a85a", + "stage": "adam", + "completed_passes": 298, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28608, + "adam_update_count": 28608, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 299, + "consumed_count": 298, + "last_submitted_update": 28608, + "last_consumed_update": 28512, + "pending": [ + { + "reference": { + "source_update": 28608, + "completed_passes": 298, + "next_interval": 0, + "trained_intervals": 28608, + "snapshot": "pass_end_0298", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28512, + "pass_science": { + "completed_passes": 298, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28608, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28608, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6488114340518223e-07, + "update_l2": 0.005380713846534491 + }, + "raw_ground_friction": { + "gradient_l2": 8.385844694203115e-07, + "update_l2": 0.0006991922855377197 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.6924363183411515e-08, + "update_l2": 0.0014258166775107384 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1585178071982227e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1585178071982227e-05, + "observation_loss": 1.1585178071982227e-05, + "chamfer": 8.505860932928044e-06, + "track": 3.079317593801534e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 298, + "adam_update_count": 28608 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022638712000116357 + }, + "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_d95121a734f84ebf99f70a241801099d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 299, + "next_interval": 0, + "next_adam_update": 28609, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 298, + "trained_intervals": 28608, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28608, + "source_timestamp_s": 3.2, + "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": 5.225934982299805, + "median": 10.374795913696289, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43439173698425293, + "median": 0.43439173698425293, + "max": 0.43439173698425293, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.087202548980713, + "median": 10.32215690612793, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 186.0350341796875, + "median": 32041.77734375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1196.5557861328125, + "median": 30398.755859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43439173698425293, + "median": 0.43439173698425293, + "max": 0.43439173698425293, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 524, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0299.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0299.json new file mode 100644 index 0000000000000000000000000000000000000000..144eb9fc38ce04781dff9123058296e548d5808f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.236761194443868e-06, + "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_6c0c6e201bfa4010a1248eb2092f7713.npz", + "optimizer_file": "boundary_6c0c6e201bfa4010a1248eb2092f7713_optimizer.pt", + "arrays_sha256": "2dec269371eea69a59c2968e873ebed6291865e335eb7cff6298db8912a73cd9", + "optimizer_sha256": "8978c4d1577577f2a6eb76ee1bf0694fada3efe2e4f9dd636be82773837e6418", + "stage": "adam", + "completed_passes": 299, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28704, + "adam_update_count": 28704, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 300, + "consumed_count": 299, + "last_submitted_update": 28704, + "last_consumed_update": 28608, + "pending": [ + { + "reference": { + "source_update": 28704, + "completed_passes": 299, + "next_interval": 0, + "trained_intervals": 28704, + "snapshot": "pass_end_0299", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28608, + "pass_science": { + "completed_passes": 299, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28704, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28704, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.644498013320117e-07, + "update_l2": 0.00537842744961381 + }, + "raw_ground_friction": { + "gradient_l2": 8.60962359183759e-07, + "update_l2": 0.0006986856460571289 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.67070667803182e-08, + "update_l2": 0.0014258469454944134 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1565836757654324e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1565836757654324e-05, + "observation_loss": 1.1565836757654324e-05, + "chamfer": 8.494411304127425e-06, + "track": 3.0714252261532238e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 299, + "adam_update_count": 28704 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022328991999529535 + }, + "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_6c0c6e201bfa4010a1248eb2092f7713_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 300, + "next_interval": 0, + "next_adam_update": 28705, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 299, + "trained_intervals": 28704, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28704, + "source_timestamp_s": 3.2, + "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": 5.223430633544922, + "median": 10.37488842010498, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4347139000892639, + "median": 0.4347139000892639, + "max": 0.4347139000892639, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.084071159362793, + "median": 10.322149276733398, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 185.56971740722656, + "median": 32044.7421875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1192.8148193359375, + "median": 30398.521484375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4347139000892639, + "median": 0.4347139000892639, + "max": 0.4347139000892639, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 524, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0300.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0300.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3b7398ecbabc68266e3e94e5ab0f10169554f5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.233364717270281e-06, + "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_c5a5bd9a65b240918725ecc66700eb04.npz", + "optimizer_file": "boundary_c5a5bd9a65b240918725ecc66700eb04_optimizer.pt", + "arrays_sha256": "9244f3e5830bd0c1a603bcda2a90596a9df687261b44d5c747e10d339a5e6738", + "optimizer_sha256": "964987c3a110ac903a33a77122004ff1e33a11d0df9f0fa7b792676bc673f046", + "stage": "adam", + "completed_passes": 300, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28800, + "adam_update_count": 28800, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 301, + "consumed_count": 300, + "last_submitted_update": 28800, + "last_consumed_update": 28704, + "pending": [ + { + "reference": { + "source_update": 28800, + "completed_passes": 300, + "next_interval": 0, + "trained_intervals": 28800, + "snapshot": "pass_end_0300", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28704, + "pass_science": { + "completed_passes": 300, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28800, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28800, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6379857470383286e-07, + "update_l2": 0.005363401956856251 + }, + "raw_ground_friction": { + "gradient_l2": 8.394431461056229e-07, + "update_l2": 0.000694572925567627 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.6634159766558696e-08, + "update_l2": 0.0014219445874914527 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1548910151759628e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1548910151759628e-05, + "observation_loss": 1.1548910151759628e-05, + "chamfer": 8.484582394885365e-06, + "track": 3.0643277568742633e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 300, + "adam_update_count": 28800 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022329989000354544 + }, + "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_c5a5bd9a65b240918725ecc66700eb04_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 301, + "next_interval": 0, + "next_adam_update": 28801, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 300, + "trained_intervals": 28800, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28800, + "source_timestamp_s": 3.2, + "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": 5.220935821533203, + "median": 10.375020027160645, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43498605489730835, + "median": 0.43498605489730835, + "max": 0.43498605489730835, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.080956935882568, + "median": 10.322141647338867, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 185.10733032226562, + "median": 32048.9609375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1189.1058349609375, + "median": 30398.291015625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43498605489730835, + "median": 0.43498605489730835, + "max": 0.43498605489730835, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 525, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0301.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0301.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d3fec1c1dd85298927e92608766156f40204c9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.230246159413885e-06, + "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_6fed05058c674d7dbfec67eb49f14bdb.npz", + "optimizer_file": "boundary_6fed05058c674d7dbfec67eb49f14bdb_optimizer.pt", + "arrays_sha256": "7a0812dec6b4abd12c3e4014fb408f47e7d5b0299e3f226a42a9932dfb6359e8", + "optimizer_sha256": "095b6d52e7865b494db637323f46a0a0c4edcfc9f10986c6e96e890c164c4be6", + "stage": "adam", + "completed_passes": 301, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28896, + "adam_update_count": 28896, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 302, + "consumed_count": 301, + "last_submitted_update": 28896, + "last_consumed_update": 28800, + "pending": [ + { + "reference": { + "source_update": 28896, + "completed_passes": 301, + "next_interval": 0, + "trained_intervals": 28896, + "snapshot": "pass_end_0301", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28800, + "pass_science": { + "completed_passes": 301, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28896, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28896, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6060802465744928e-07, + "update_l2": 0.0052826665341854095 + }, + "raw_ground_friction": { + "gradient_l2": 8.803312994132284e-07, + "update_l2": 0.0006974637508392334 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.6464650915158927e-08, + "update_l2": 0.001416891231201589 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1531860764080193e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1531860764080193e-05, + "observation_loss": 1.1531860764080193e-05, + "chamfer": 8.474718015349936e-06, + "track": 3.057142748730257e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 301, + "adam_update_count": 28896 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022708047999913106 + }, + "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_6fed05058c674d7dbfec67eb49f14bdb_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 302, + "next_interval": 0, + "next_adam_update": 28897, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 301, + "trained_intervals": 28896, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28896, + "source_timestamp_s": 3.2, + "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": 5.218474388122559, + "median": 10.375226020812988, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4352774918079376, + "median": 0.4352774918079376, + "max": 0.4352774918079376, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.077861309051514, + "median": 10.322134017944336, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 184.6522674560547, + "median": 32055.5625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1185.4305419921875, + "median": 30398.05859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4352774918079376, + "median": 0.4352774918079376, + "max": 0.4352774918079376, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 531, + "controller_edge_stiffness": 83 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0302.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0302.json new file mode 100644 index 0000000000000000000000000000000000000000..e4e178f05e3acf117e87c92d162898fbd1456b96 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.226073885628163e-06, + "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_0b162ab084614a7bb4b7536650119d15.npz", + "optimizer_file": "boundary_0b162ab084614a7bb4b7536650119d15_optimizer.pt", + "arrays_sha256": "9e6499b34566fe030a462394a4edf53cad383834d5479b8b3b6bba3eb7834006", + "optimizer_sha256": "70aebdae7efb8df372fb01a9b6cbbbf7cd71365ce14b47b0e17c75f7ea25c381", + "stage": "adam", + "completed_passes": 302, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 28992, + "adam_update_count": 28992, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 303, + "consumed_count": 302, + "last_submitted_update": 28992, + "last_consumed_update": 28896, + "pending": [ + { + "reference": { + "source_update": 28992, + "completed_passes": 302, + "next_interval": 0, + "trained_intervals": 28992, + "snapshot": "pass_end_0302", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28896, + "pass_science": { + "completed_passes": 302, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 28992, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 28992, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.621169047894e-07, + "update_l2": 0.005283944308757782 + }, + "raw_ground_friction": { + "gradient_l2": 9.023324878398853e-07, + "update_l2": 0.0006986558437347412 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.6557993137998892e-08, + "update_l2": 0.0014184084720909595 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1514096513565164e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1514096513565164e-05, + "observation_loss": 1.1514096513565164e-05, + "chamfer": 8.464253369311336e-06, + "track": 3.049842916880152e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 302, + "adam_update_count": 28992 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02233963999970001 + }, + "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_0b162ab084614a7bb4b7536650119d15_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 303, + "next_interval": 0, + "next_adam_update": 28993, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 302, + "trained_intervals": 28992, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 28992, + "source_timestamp_s": 3.2, + "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": 5.215965747833252, + "median": 10.375411033630371, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.435660183429718, + "median": 0.435660183429718, + "max": 0.435660183429718, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.074761867523193, + "median": 10.322171211242676, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 184.1896209716797, + "median": 32061.494140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1181.7620849609375, + "median": 30399.189453125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.435660183429718, + "median": 0.435660183429718, + "max": 0.435660183429718, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 531, + "controller_edge_stiffness": 85 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0303.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0303.json new file mode 100644 index 0000000000000000000000000000000000000000..77289abddd2c6f1f9821664b5674ca2ebbfe2b4b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.222941839302166e-06, + "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_2a22aaa1b5474aa1a79648a91fbcdc8c.npz", + "optimizer_file": "boundary_2a22aaa1b5474aa1a79648a91fbcdc8c_optimizer.pt", + "arrays_sha256": "fcd62e2c0b1ff85635f5dd564553e7c54a94368efcb669b2404744395619d68f", + "optimizer_sha256": "8a2041b7d557d51e3ae700595306834a5f766c3e69e045a65b094e205f8f6e0f", + "stage": "adam", + "completed_passes": 303, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29088, + "adam_update_count": 29088, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 304, + "consumed_count": 303, + "last_submitted_update": 29088, + "last_consumed_update": 28992, + "pending": [ + { + "reference": { + "source_update": 29088, + "completed_passes": 303, + "next_interval": 0, + "trained_intervals": 29088, + "snapshot": "pass_end_0303", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 28992, + "pass_science": { + "completed_passes": 303, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29088, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29088, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6188440099540458e-07, + "update_l2": 0.005285397171974182 + }, + "raw_ground_friction": { + "gradient_l2": 9.154780400422169e-07, + "update_l2": 0.0006950199604034424 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.515261243729583e-08, + "update_l2": 0.0014202669262886047 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1489574717415962e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1489574717415962e-05, + "observation_loss": 1.1489574717415962e-05, + "chamfer": 8.449375854979735e-06, + "track": 3.0401988624362275e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 303, + "adam_update_count": 29088 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022268545999395428 + }, + "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_2a22aaa1b5474aa1a79648a91fbcdc8c_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 304, + "next_interval": 0, + "next_adam_update": 29089, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 303, + "trained_intervals": 29088, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29088, + "source_timestamp_s": 3.2, + "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": 5.213397026062012, + "median": 10.375570297241211, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4360774755477905, + "median": 0.4360774755477905, + "max": 0.4360774755477905, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.0716633796691895, + "median": 10.322203636169434, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 183.71710205078125, + "median": 32066.599609375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1178.1060791015625, + "median": 30400.173828125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4360774755477905, + "median": 0.4360774755477905, + "max": 0.4360774755477905, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 532, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0304.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0304.json new file mode 100644 index 0000000000000000000000000000000000000000..00eda230164f68e2eb3467863ea0979adea51b3d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.218594023565099e-06, + "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_40fc6f2caeaa4afc8f641ac75db5e882.npz", + "optimizer_file": "boundary_40fc6f2caeaa4afc8f641ac75db5e882_optimizer.pt", + "arrays_sha256": "c106b032d71a2d0caee3f9d935f699cac54ab33839a704193322e05c0b2de9fe", + "optimizer_sha256": "3be2d63c919f106a66d53052305e5f46d8a7e5287a1bc82ab53bfa594d0c2e15", + "stage": "adam", + "completed_passes": 304, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29184, + "adam_update_count": 29184, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 305, + "consumed_count": 304, + "last_submitted_update": 29184, + "last_consumed_update": 29088, + "pending": [ + { + "reference": { + "source_update": 29184, + "completed_passes": 304, + "next_interval": 0, + "trained_intervals": 29184, + "snapshot": "pass_end_0304", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29088, + "pass_science": { + "completed_passes": 304, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29184, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29184, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.599352685843769e-07, + "update_l2": 0.0052652060985565186 + }, + "raw_ground_friction": { + "gradient_l2": 9.152699362857675e-07, + "update_l2": 0.0006906986236572266 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.495161766091769e-08, + "update_l2": 0.0014142311410978436 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1466368960100226e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1466368960100226e-05, + "observation_loss": 1.1466368960100226e-05, + "chamfer": 8.43544057715917e-06, + "track": 3.030927928193705e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 304, + "adam_update_count": 29184 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02229569600058312 + }, + "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_40fc6f2caeaa4afc8f641ac75db5e882_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 305, + "next_interval": 0, + "next_adam_update": 29185, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 304, + "trained_intervals": 29184, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29184, + "source_timestamp_s": 3.2, + "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": 5.21077299118042, + "median": 10.375762939453125, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43646439909935, + "median": 0.43646439909935, + "max": 0.43646439909935, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.068595886230469, + "median": 10.322134017944336, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 183.2356414794922, + "median": 32072.779296875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1174.497802734375, + "median": 30398.05859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43646439909935, + "median": 0.43646439909935, + "max": 0.43646439909935, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 533, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0305.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0305.json new file mode 100644 index 0000000000000000000000000000000000000000..dffd7af92835ceae39aef7a7b55d03b39e59217c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2135066773171275e-06, + "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_77fb1563c940480f8e0895c9ac810a32.npz", + "optimizer_file": "boundary_77fb1563c940480f8e0895c9ac810a32_optimizer.pt", + "arrays_sha256": "44dcf692cc9537e8cfd98d48e160a12d8feabfbed1a02eada207ea5ba63f6f62", + "optimizer_sha256": "d748bffade463ba9dee4515a295ad551435017008010a5e5eeaec8584f62ff26", + "stage": "adam", + "completed_passes": 305, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29280, + "adam_update_count": 29280, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 306, + "consumed_count": 305, + "last_submitted_update": 29280, + "last_consumed_update": 29184, + "pending": [ + { + "reference": { + "source_update": 29280, + "completed_passes": 305, + "next_interval": 0, + "trained_intervals": 29280, + "snapshot": "pass_end_0305", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29184, + "pass_science": { + "completed_passes": 305, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29280, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29280, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.5960056032326975e-07, + "update_l2": 0.005249551497399807 + }, + "raw_ground_friction": { + "gradient_l2": 8.964847779679985e-07, + "update_l2": 0.0006866753101348877 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4834072576140898e-08, + "update_l2": 0.0014098489191383123 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1447360520833172e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1447360520833172e-05, + "observation_loss": 1.1447360520833172e-05, + "chamfer": 8.424166480835993e-06, + "track": 3.0231938126235036e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 305, + "adam_update_count": 29280 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022242617998927017 + }, + "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_77fb1563c940480f8e0895c9ac810a32_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 306, + "next_interval": 0, + "next_adam_update": 29281, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 305, + "trained_intervals": 29280, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29280, + "source_timestamp_s": 3.2, + "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": 5.208139896392822, + "median": 10.375981330871582, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43673473596572876, + "median": 0.43673473596572876, + "max": 0.43673473596572876, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.065546035766602, + "median": 10.32234001159668, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 182.75381469726562, + "median": 32079.78515625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1170.921142578125, + "median": 30404.322265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43673473596572876, + "median": 0.43673473596572876, + "max": 0.43673473596572876, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 533, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0306.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0306.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdabba05589ba141065bd864e1b4d6744db3615 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.210360325397384e-06, + "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_780489f7cba247ae8f43164e1c4fce05.npz", + "optimizer_file": "boundary_780489f7cba247ae8f43164e1c4fce05_optimizer.pt", + "arrays_sha256": "097e60aee0395727ab02efc5808f6306207d008f24736ebfcccf5fb1153e820c", + "optimizer_sha256": "14d1ae335d3b6ea92f4a818892cf8fc7daacacc43df5e48e269975abb4aaad64", + "stage": "adam", + "completed_passes": 306, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29376, + "adam_update_count": 29376, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 307, + "consumed_count": 306, + "last_submitted_update": 29376, + "last_consumed_update": 29280, + "pending": [ + { + "reference": { + "source_update": 29376, + "completed_passes": 306, + "next_interval": 0, + "trained_intervals": 29376, + "snapshot": "pass_end_0306", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29280, + "pass_science": { + "completed_passes": 306, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29376, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29376, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6328355911809922e-07, + "update_l2": 0.005238143261522055 + }, + "raw_ground_friction": { + "gradient_l2": 9.449701678931888e-07, + "update_l2": 0.0006874799728393555 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.519342068296737e-08, + "update_l2": 0.001405624090693891 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1431430721131619e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1431430721131619e-05, + "observation_loss": 1.1431430721131619e-05, + "chamfer": 8.414827789238188e-06, + "track": 3.0166029318934307e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 306, + "adam_update_count": 29376 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022447482000643504 + }, + "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_780489f7cba247ae8f43164e1c4fce05_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 307, + "next_interval": 0, + "next_adam_update": 29377, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 306, + "trained_intervals": 29376, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29376, + "source_timestamp_s": 3.2, + "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": 5.205528259277344, + "median": 10.376241683959961, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4370191991329193, + "median": 0.4370191991329193, + "max": 0.4370191991329193, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.062514305114746, + "median": 10.322361946105957, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 182.27713012695312, + "median": 32088.134765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1167.3765869140625, + "median": 30404.98828125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4370191991329193, + "median": 0.4370191991329193, + "max": 0.4370191991329193, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 536, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0307.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0307.json new file mode 100644 index 0000000000000000000000000000000000000000..4c78d8ed4a85401ba2ffc56d69ec4d1e0d410447 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.207071291759348e-06, + "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_1f65cd712ad4479f88ed6309a1d65c41.npz", + "optimizer_file": "boundary_1f65cd712ad4479f88ed6309a1d65c41_optimizer.pt", + "arrays_sha256": "32c6aa2849e8b5d5d6e7094ecebe25457debdd582e6d8285bdbaf0fa1bfad787", + "optimizer_sha256": "37c5a1ceff1deb2e3abdc7fb10fd12043220209fe6636d44e02351755bc05ca9", + "stage": "adam", + "completed_passes": 307, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29472, + "adam_update_count": 29472, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 308, + "consumed_count": 307, + "last_submitted_update": 29472, + "last_consumed_update": 29376, + "pending": [ + { + "reference": { + "source_update": 29472, + "completed_passes": 307, + "next_interval": 0, + "trained_intervals": 29472, + "snapshot": "pass_end_0307", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29376, + "pass_science": { + "completed_passes": 307, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29472, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29472, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6360252175218193e-07, + "update_l2": 0.005208836868405342 + }, + "raw_ground_friction": { + "gradient_l2": 9.48011290802242e-07, + "update_l2": 0.0006875395774841309 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.5078826126900822e-08, + "update_l2": 0.0013983433600515127 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1416479537729174e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1416479537729174e-05, + "observation_loss": 1.1416479537729174e-05, + "chamfer": 8.405942026001867e-06, + "track": 3.010537056979956e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 307, + "adam_update_count": 29472 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02288866799972311 + }, + "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_1f65cd712ad4479f88ed6309a1d65c41_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 308, + "next_interval": 0, + "next_adam_update": 29473, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 307, + "trained_intervals": 29472, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29472, + "source_timestamp_s": 3.2, + "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": 5.2029595375061035, + "median": 10.376258850097656, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43739190697669983, + "median": 0.43739190697669983, + "max": 0.43739190697669983, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.059489727020264, + "median": 10.322354316711426, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 181.8095245361328, + "median": 32088.6875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1163.85107421875, + "median": 30404.755859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43739190697669983, + "median": 0.43739190697669983, + "max": 0.43739190697669983, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 539, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0308.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0308.json new file mode 100644 index 0000000000000000000000000000000000000000..96ad872a6cfb8ced8d856fe83b1f4f9b3bcc2d0c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.2028765245590876e-06, + "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_e75841478f0645efa086ffe979ea42d4.npz", + "optimizer_file": "boundary_e75841478f0645efa086ffe979ea42d4_optimizer.pt", + "arrays_sha256": "38deb47f26c51cc05e48c1b48150035f933716d011bc0dc957934c83b7956e6d", + "optimizer_sha256": "95d1c1c8544543f2d22afb5e44dc504ed0724da456a6cf2ebe2f07f9ca0c11fd", + "stage": "adam", + "completed_passes": 308, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29568, + "adam_update_count": 29568, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 309, + "consumed_count": 308, + "last_submitted_update": 29568, + "last_consumed_update": 29472, + "pending": [ + { + "reference": { + "source_update": 29568, + "completed_passes": 308, + "next_interval": 0, + "trained_intervals": 29568, + "snapshot": "pass_end_0308", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29472, + "pass_science": { + "completed_passes": 308, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29568, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29568, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6358403343019745e-07, + "update_l2": 0.005195284262299538 + }, + "raw_ground_friction": { + "gradient_l2": 9.639481959311524e-07, + "update_l2": 0.0006856024265289307 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.5003050296845686e-08, + "update_l2": 0.0013957245973870158 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.139991309173638e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.139991309173638e-05, + "observation_loss": 1.139991309173638e-05, + "chamfer": 8.39609401737107e-06, + "track": 3.003819301738986e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 308, + "adam_update_count": 29568 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022333033999530016 + }, + "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_e75841478f0645efa086ffe979ea42d4_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 309, + "next_interval": 0, + "next_adam_update": 29569, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 308, + "trained_intervals": 29568, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29568, + "source_timestamp_s": 3.2, + "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": 5.200402736663818, + "median": 10.376370429992676, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43778467178344727, + "median": 0.43778467178344727, + "max": 0.43778467178344727, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.056471347808838, + "median": 10.322344779968262, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 181.3452606201172, + "median": 32092.26953125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1160.3433837890625, + "median": 30404.46484375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43778467178344727, + "median": 0.43778467178344727, + "max": 0.43778467178344727, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 542, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0309.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0309.json new file mode 100644 index 0000000000000000000000000000000000000000..d29f7dd6a034b138cf30dfe62eed76a18ca51316 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.199223884886881e-06, + "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_3ac59d122050450598224316c3dc190b.npz", + "optimizer_file": "boundary_3ac59d122050450598224316c3dc190b_optimizer.pt", + "arrays_sha256": "c29a7d6fab550fea0b2ad4a51b36252c3e980b2c669b96c90dfd412ea2703527", + "optimizer_sha256": "238395efdcb50fa4a3519ea3b5fc078f4e8be2cd3640d71eb508d9bb43a6690d", + "stage": "adam", + "completed_passes": 309, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29664, + "adam_update_count": 29664, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 310, + "consumed_count": 309, + "last_submitted_update": 29664, + "last_consumed_update": 29568, + "pending": [ + { + "reference": { + "source_update": 29664, + "completed_passes": 309, + "next_interval": 0, + "trained_intervals": 29664, + "snapshot": "pass_end_0309", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29568, + "pass_science": { + "completed_passes": 309, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29664, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29664, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6150812598425546e-07, + "update_l2": 0.005184493027627468 + }, + "raw_ground_friction": { + "gradient_l2": 9.683774351287866e-07, + "update_l2": 0.0006818175315856934 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.471997362363254e-08, + "update_l2": 0.0013917787000536919 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1389105566195212e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1389105566195212e-05, + "observation_loss": 1.1389105566195212e-05, + "chamfer": 8.389895810978487e-06, + "track": 2.9992099825904006e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 309, + "adam_update_count": 29664 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.0225556069999584 + }, + "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_3ac59d122050450598224316c3dc190b_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 310, + "next_interval": 0, + "next_adam_update": 29665, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 309, + "trained_intervals": 29664, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29664, + "source_timestamp_s": 3.2, + "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": 5.197936534881592, + "median": 10.37652587890625, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4379838705062866, + "median": 0.4379838705062866, + "max": 0.4379838705062866, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.05349063873291, + "median": 10.322344779968262, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 180.89859008789062, + "median": 32097.2578125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1156.889892578125, + "median": 30404.46484375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4379838705062866, + "median": 0.4379838705062866, + "max": 0.4379838705062866, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 545, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0310.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0310.json new file mode 100644 index 0000000000000000000000000000000000000000..b17db07b0a95c4d84f450d49f81960f28c42c4d4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1957287938554755e-06, + "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_47b7382744d749ff800fc5558e2a76bf.npz", + "optimizer_file": "boundary_47b7382744d749ff800fc5558e2a76bf_optimizer.pt", + "arrays_sha256": "c51d16816612773964d6fe9aecaa6358f137b15bf864f5f2a2237c9d44dc20d3", + "optimizer_sha256": "3ee36fc5e6e38e9fd451c2349866a8a797a50d0fff9d1bb15b7c822499a03ee5", + "stage": "adam", + "completed_passes": 310, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29760, + "adam_update_count": 29760, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 311, + "consumed_count": 310, + "last_submitted_update": 29760, + "last_consumed_update": 29664, + "pending": [ + { + "reference": { + "source_update": 29760, + "completed_passes": 310, + "next_interval": 0, + "trained_intervals": 29760, + "snapshot": "pass_end_0310", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29664, + "pass_science": { + "completed_passes": 310, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29760, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29760, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6194682928016846e-07, + "update_l2": 0.0051706209778785706 + }, + "raw_ground_friction": { + "gradient_l2": 9.8040368357033e-07, + "update_l2": 0.0006819665431976318 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.457976577829868e-08, + "update_l2": 0.0013882217463105917 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1378486306057312e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1378486306057312e-05, + "observation_loss": 1.1378486306057312e-05, + "chamfer": 8.383949534618296e-06, + "track": 2.9945365440653404e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 310, + "adam_update_count": 29760 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022438912999859895 + }, + "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_47b7382744d749ff800fc5558e2a76bf_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 311, + "next_interval": 0, + "next_adam_update": 29761, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 310, + "trained_intervals": 29760, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29760, + "source_timestamp_s": 3.2, + "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": 5.195504665374756, + "median": 10.376615524291992, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4382098615169525, + "median": 0.4382098615169525, + "max": 0.4382098615169525, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.050536155700684, + "median": 10.32234001159668, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 180.45919799804688, + "median": 32100.134765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1153.47705078125, + "median": 30404.322265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4382098615169525, + "median": 0.4382098615169525, + "max": 0.4382098615169525, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 547, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0311.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0311.json new file mode 100644 index 0000000000000000000000000000000000000000..c61dd6c543f9b09a05251913051b7e8cec629b8e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1927677301649355e-06, + "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_9469ade8ccb248e6b345fe32a3c68b7e.npz", + "optimizer_file": "boundary_9469ade8ccb248e6b345fe32a3c68b7e_optimizer.pt", + "arrays_sha256": "60ad1b37cf20e81ccce30046dc8b1a6c6df4f97e92e3854772b4cfeb90c2b9de", + "optimizer_sha256": "0140342736221549f3f478b0610ee5cc9122275437ef3664d8ebff990fa47b85", + "stage": "adam", + "completed_passes": 311, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29856, + "adam_update_count": 29856, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 312, + "consumed_count": 311, + "last_submitted_update": 29856, + "last_consumed_update": 29760, + "pending": [ + { + "reference": { + "source_update": 29856, + "completed_passes": 311, + "next_interval": 0, + "trained_intervals": 29856, + "snapshot": "pass_end_0311", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29760, + "pass_science": { + "completed_passes": 311, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29856, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29856, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.636306308228086e-07, + "update_l2": 0.005165278445929289 + }, + "raw_ground_friction": { + "gradient_l2": 9.67741812019085e-07, + "update_l2": 0.0006833970546722412 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.482583383311976e-08, + "update_l2": 0.0013911845162510872 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1365602404111996e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1365602404111996e-05, + "observation_loss": 1.1365602404111996e-05, + "chamfer": 8.376476216653828e-06, + "track": 2.989125732710818e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 311, + "adam_update_count": 29856 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02267051499984518 + }, + "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_9469ade8ccb248e6b345fe32a3c68b7e_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 312, + "next_interval": 0, + "next_adam_update": 29857, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 311, + "trained_intervals": 29856, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29856, + "source_timestamp_s": 3.2, + "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": 5.193118095397949, + "median": 10.376713752746582, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4384739398956299, + "median": 0.4384739398956299, + "max": 0.4384739398956299, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.047616481781006, + "median": 10.322335243225098, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 180.02903747558594, + "median": 32103.2890625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1150.1141357421875, + "median": 30404.17578125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4384739398956299, + "median": 0.4384739398956299, + "max": 0.4384739398956299, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 550, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0312.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0312.json new file mode 100644 index 0000000000000000000000000000000000000000..8630771e2db41d13dbb999c82b808cafbd19ac6c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1895418827239155e-06, + "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_ed01bc7e330d4327b688a7d96b7d11e7.npz", + "optimizer_file": "boundary_ed01bc7e330d4327b688a7d96b7d11e7_optimizer.pt", + "arrays_sha256": "bfa3fb8b2df86b00d315cb29916d237a0e7e8904d273b7c88756e52c096de92f", + "optimizer_sha256": "25b85fdc71bfbfbeb25aff1535f88a3273291e85474faff836abbc37a7ceab5c", + "stage": "adam", + "completed_passes": 312, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 29952, + "adam_update_count": 29952, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 313, + "consumed_count": 312, + "last_submitted_update": 29952, + "last_consumed_update": 29856, + "pending": [ + { + "reference": { + "source_update": 29952, + "completed_passes": 312, + "next_interval": 0, + "trained_intervals": 29952, + "snapshot": "pass_end_0312", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29856, + "pass_science": { + "completed_passes": 312, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 29952, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 29952, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6476337805215735e-07, + "update_l2": 0.00515564763918519 + }, + "raw_ground_friction": { + "gradient_l2": 9.950401818059618e-07, + "update_l2": 0.00068625807762146 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.477868399353156e-08, + "update_l2": 0.0013872626004740596 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1352760338922963e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1352760338922963e-05, + "observation_loss": 1.1352760338922963e-05, + "chamfer": 8.368978342332412e-06, + "track": 2.9837815418432e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 312, + "adam_update_count": 29952 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02257186799943156 + }, + "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_ed01bc7e330d4327b688a7d96b7d11e7_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 313, + "next_interval": 0, + "next_adam_update": 29953, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 312, + "trained_intervals": 29952, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 29952, + "source_timestamp_s": 3.2, + "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": 5.190734386444092, + "median": 10.376852035522461, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4387216567993164, + "median": 0.4387216567993164, + "max": 0.4387216567993164, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.044712066650391, + "median": 10.322368621826172, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 179.60040283203125, + "median": 32107.7265625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1146.778564453125, + "median": 30405.19140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4387216567993164, + "median": 0.4387216567993164, + "max": 0.4387216567993164, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 555, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0313.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0313.json new file mode 100644 index 0000000000000000000000000000000000000000..85c25709d9e6deb8f1d6f6110068ddb7b59b3ff3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1878304079101936e-06, + "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_20c8953729844378be91552214d153d1.npz", + "optimizer_file": "boundary_20c8953729844378be91552214d153d1_optimizer.pt", + "arrays_sha256": "24c508aca3854d746a7e5d71df1fd4a3b9412feef59b41597b1f0548a0271c08", + "optimizer_sha256": "8db3d3aeaa904c79292fcb12d890a54bddac6fb02cf08a6c58988b41ee1a392b", + "stage": "adam", + "completed_passes": 313, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30048, + "adam_update_count": 30048, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 314, + "consumed_count": 313, + "last_submitted_update": 30048, + "last_consumed_update": 29952, + "pending": [ + { + "reference": { + "source_update": 30048, + "completed_passes": 313, + "next_interval": 0, + "trained_intervals": 30048, + "snapshot": "pass_end_0313", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 29952, + "pass_science": { + "completed_passes": 313, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30048, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30048, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6522179180356034e-07, + "update_l2": 0.005150425247848034 + }, + "raw_ground_friction": { + "gradient_l2": 1.0076233820655034e-06, + "update_l2": 0.0006857216358184814 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4764855055536827e-08, + "update_l2": 0.0013854621211066842 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1336611350998282e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1336611350998282e-05, + "observation_loss": 1.1336611350998282e-05, + "chamfer": 8.359397725143936e-06, + "track": 2.977213171106996e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 313, + "adam_update_count": 30048 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022379715999704786 + }, + "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_20c8953729844378be91552214d153d1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 314, + "next_interval": 0, + "next_adam_update": 30049, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 313, + "trained_intervals": 30048, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30048, + "source_timestamp_s": 3.2, + "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": 5.188348770141602, + "median": 10.377016067504883, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4390109181404114, + "median": 0.4390109181404114, + "max": 0.4390109181404114, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.041824817657471, + "median": 10.32236385345459, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 179.1724395751953, + "median": 32112.994140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1143.4722900390625, + "median": 30405.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4390109181404114, + "median": 0.4390109181404114, + "max": 0.4390109181404114, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 558, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0314.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0314.json new file mode 100644 index 0000000000000000000000000000000000000000..4c274a718f0e2f1fca3da5847e6246e5c7a6260a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.184815956406965e-06, + "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_81c4cb9fa3ee4d75989520d5efd66e35.npz", + "optimizer_file": "boundary_81c4cb9fa3ee4d75989520d5efd66e35_optimizer.pt", + "arrays_sha256": "2423f6956aeb6708adf11ab58f435089931c946e7b101381efa2b2f5b02e0d28", + "optimizer_sha256": "66f2693dab008bb157149ae3cd2d9a0f26f83afb1701fd775484ca76fadc03cb", + "stage": "adam", + "completed_passes": 314, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30144, + "adam_update_count": 30144, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 315, + "consumed_count": 314, + "last_submitted_update": 30144, + "last_consumed_update": 30048, + "pending": [ + { + "reference": { + "source_update": 30144, + "completed_passes": 314, + "next_interval": 0, + "trained_intervals": 30144, + "snapshot": "pass_end_0314", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30048, + "pass_science": { + "completed_passes": 314, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30144, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30144, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6341314790224715e-07, + "update_l2": 0.005141791421920061 + }, + "raw_ground_friction": { + "gradient_l2": 9.754564871400362e-07, + "update_l2": 0.0006873607635498047 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4928535680146524e-08, + "update_l2": 0.0013847197405993938 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.132549914473202e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.132549914473202e-05, + "observation_loss": 1.132549914473202e-05, + "chamfer": 8.353033081220929e-06, + "track": 2.9724658361374168e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 314, + "adam_update_count": 30144 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022343056998579414 + }, + "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_81c4cb9fa3ee4d75989520d5efd66e35_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 315, + "next_interval": 0, + "next_adam_update": 30145, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 314, + "trained_intervals": 30144, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30144, + "source_timestamp_s": 3.2, + "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": 5.1859893798828125, + "median": 10.377229690551758, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43920889496803284, + "median": 0.43920889496803284, + "max": 0.43920889496803284, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.038968086242676, + "median": 10.322347640991211, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 178.75021362304688, + "median": 32119.857421875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1140.2103271484375, + "median": 30404.552734375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43920889496803284, + "median": 0.43920889496803284, + "max": 0.43920889496803284, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 562, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0315.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0315.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa891c3baa81b46e9a0ba466773dc3a380ce993 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.181165242305572e-06, + "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_ee68a4daf5e9434d9504b6226f79254c.npz", + "optimizer_file": "boundary_ee68a4daf5e9434d9504b6226f79254c_optimizer.pt", + "arrays_sha256": "e279ec3068493d3839cfb374978c679ff69ebb1abc688ab06f47f8eaecca7efa", + "optimizer_sha256": "6e1fb2b1f8737226b2dfab62f771d44b18055c19c44f4ddc30bcb7a52cffcb5c", + "stage": "adam", + "completed_passes": 315, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30240, + "adam_update_count": 30240, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 316, + "consumed_count": 315, + "last_submitted_update": 30240, + "last_consumed_update": 30144, + "pending": [ + { + "reference": { + "source_update": 30240, + "completed_passes": 315, + "next_interval": 0, + "trained_intervals": 30240, + "snapshot": "pass_end_0315", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30144, + "pass_science": { + "completed_passes": 315, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30240, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30240, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6403424751842977e-07, + "update_l2": 0.005124678369611502 + }, + "raw_ground_friction": { + "gradient_l2": 1.0226227686871425e-06, + "update_l2": 0.0006880462169647217 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4669695619650156e-08, + "update_l2": 0.0013781265588477254 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1309020010230597e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1309020010230597e-05, + "observation_loss": 1.1309020010230597e-05, + "chamfer": 8.343165973201394e-06, + "track": 2.965854037029203e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 315, + "adam_update_count": 30240 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022437521000028937 + }, + "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_ee68a4daf5e9434d9504b6226f79254c_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 316, + "next_interval": 0, + "next_adam_update": 30241, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 315, + "trained_intervals": 30240, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30240, + "source_timestamp_s": 3.2, + "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": 5.183611869812012, + "median": 10.377459526062012, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43943414092063904, + "median": 0.43943414092063904, + "max": 0.43943414092063904, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.036156177520752, + "median": 10.322319030761719, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 178.3257293701172, + "median": 32127.23828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1137.0086669921875, + "median": 30403.68359375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43943414092063904, + "median": 0.43943414092063904, + "max": 0.43943414092063904, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 566, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0316.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0316.json new file mode 100644 index 0000000000000000000000000000000000000000..295eda05fd844fd5c73cc241f0f0345993dab4e5 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.17813277380704e-06, + "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_c5b44546c3964193a2764de1a5217a86.npz", + "optimizer_file": "boundary_c5b44546c3964193a2764de1a5217a86_optimizer.pt", + "arrays_sha256": "aa9f12c385f6753f53d9a5a2323066c218e0db474cdd845d5bf408a43a3126f2", + "optimizer_sha256": "c98377cf2d503a2a18420572a44ecacb5cb023628c5eb7162976310b746807ec", + "stage": "adam", + "completed_passes": 316, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30336, + "adam_update_count": 30336, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 317, + "consumed_count": 316, + "last_submitted_update": 30336, + "last_consumed_update": 30240, + "pending": [ + { + "reference": { + "source_update": 30336, + "completed_passes": 316, + "next_interval": 0, + "trained_intervals": 30336, + "snapshot": "pass_end_0316", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30240, + "pass_science": { + "completed_passes": 316, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30336, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30336, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6450239570531267e-07, + "update_l2": 0.005107392556965351 + }, + "raw_ground_friction": { + "gradient_l2": 1.0296054142600042e-06, + "update_l2": 0.0006880462169647217 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.454371461624305e-08, + "update_l2": 0.0013761862646788359 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1295911463093944e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1295911463093944e-05, + "observation_loss": 1.1295911463093944e-05, + "chamfer": 8.335486199939623e-06, + "track": 2.960425035780645e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 316, + "adam_update_count": 30336 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02234206299908692 + }, + "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_c5b44546c3964193a2764de1a5217a86_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 317, + "next_interval": 0, + "next_adam_update": 30337, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 316, + "trained_intervals": 30336, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30336, + "source_timestamp_s": 3.2, + "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": 5.181305408477783, + "median": 10.377696990966797, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.43971869349479675, + "median": 0.43971869349479675, + "max": 0.43971869349479675, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.033380508422852, + "median": 10.322305679321289, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 177.91490173339844, + "median": 32134.869140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1133.8570556640625, + "median": 30403.27734375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.43971869349479675, + "median": 0.43971869349479675, + "max": 0.43971869349479675, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 567, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0317.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0317.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ab0b334c3f492de318596a010447dc569fa3e3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.175855785135354e-06, + "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_3509026cb1f34c29ab4122ac31cb08c8.npz", + "optimizer_file": "boundary_3509026cb1f34c29ab4122ac31cb08c8_optimizer.pt", + "arrays_sha256": "3e5996f4a0c810fadd6f43b853a9040245456b9e67a6278b616f868198e81c94", + "optimizer_sha256": "36a14236095fe1f0004941a339a9259a8f7c4eaeeee8273fb9890354588f268f", + "stage": "adam", + "completed_passes": 317, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30432, + "adam_update_count": 30432, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 318, + "consumed_count": 317, + "last_submitted_update": 30432, + "last_consumed_update": 30336, + "pending": [ + { + "reference": { + "source_update": 30432, + "completed_passes": 317, + "next_interval": 0, + "trained_intervals": 30432, + "snapshot": "pass_end_0317", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30336, + "pass_science": { + "completed_passes": 317, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30432, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30432, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6396244006955385e-07, + "update_l2": 0.005104200914502144 + }, + "raw_ground_friction": { + "gradient_l2": 1.023643903863558e-06, + "update_l2": 0.0006890296936035156 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4271304965850504e-08, + "update_l2": 0.0013717503752559423 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1277844350843225e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1277844350843225e-05, + "observation_loss": 1.1277844350843225e-05, + "chamfer": 8.32458317745477e-06, + "track": 2.953261173388455e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 317, + "adam_update_count": 30432 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.0223036970000976 + }, + "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_3509026cb1f34c29ab4122ac31cb08c8_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 318, + "next_interval": 0, + "next_adam_update": 30433, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 317, + "trained_intervals": 30432, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30432, + "source_timestamp_s": 3.2, + "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": 5.178915977478027, + "median": 10.378002166748047, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4401698410511017, + "median": 0.4401698410511017, + "max": 0.4401698410511017, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.030630588531494, + "median": 10.322306632995605, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 177.49029541015625, + "median": 32144.67578125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1130.743408203125, + "median": 30403.306640625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4401698410511017, + "median": 0.4401698410511017, + "max": 0.4401698410511017, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 568, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0318.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0318.json new file mode 100644 index 0000000000000000000000000000000000000000..e9eccfdfe92d0d7da04bc58cf3fdedcea60377a4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.171900520575036e-06, + "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_951e4fb3c38d427eb140a7a3ace56013.npz", + "optimizer_file": "boundary_951e4fb3c38d427eb140a7a3ace56013_optimizer.pt", + "arrays_sha256": "dd7021a855a9f1dde51147b2a799d215a49b2900b214baf1ba53f6b5fde33179", + "optimizer_sha256": "9c2f4a6efb90f6438218bc54fbab32d951e607024417d61a3fe36065b46e2724", + "stage": "adam", + "completed_passes": 318, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30528, + "adam_update_count": 30528, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 319, + "consumed_count": 318, + "last_submitted_update": 30528, + "last_consumed_update": 30432, + "pending": [ + { + "reference": { + "source_update": 30528, + "completed_passes": 318, + "next_interval": 0, + "trained_intervals": 30528, + "snapshot": "pass_end_0318", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30432, + "pass_science": { + "completed_passes": 318, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30528, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30528, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6514852063664875e-07, + "update_l2": 0.005084009375423193 + }, + "raw_ground_friction": { + "gradient_l2": 1.0374787962064147e-06, + "update_l2": 0.0006868839263916016 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4481094484940513e-08, + "update_l2": 0.0013676212402060628 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1260937753831968e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1260937753831968e-05, + "observation_loss": 1.1260937753831968e-05, + "chamfer": 8.31460602057632e-06, + "track": 2.9463315058819717e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 318, + "adam_update_count": 30528 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022481931999209337 + }, + "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_951e4fb3c38d427eb140a7a3ace56013_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 319, + "next_interval": 0, + "next_adam_update": 30529, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 318, + "trained_intervals": 30528, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30528, + "source_timestamp_s": 3.2, + "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": 5.176510334014893, + "median": 10.378177642822266, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44043251872062683, + "median": 0.44043251872062683, + "max": 0.44043251872062683, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.027887344360352, + "median": 10.322246551513672, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 177.06382751464844, + "median": 32150.318359375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1127.645751953125, + "median": 30401.478515625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44043251872062683, + "median": 0.44043251872062683, + "max": 0.44043251872062683, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 571, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0319.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0319.json new file mode 100644 index 0000000000000000000000000000000000000000..858a35b2ea478ec5a100029a6e9095279ebc363f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1696468211257525e-06, + "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_0d747cdb65534c9ab70ef105b99fdec1.npz", + "optimizer_file": "boundary_0d747cdb65534c9ab70ef105b99fdec1_optimizer.pt", + "arrays_sha256": "90f82981d5175ac2916062943ff43bee002ca3832bdd49b67c5e6ee4f83c5406", + "optimizer_sha256": "8ffb943f9d52c78ff61ff07c3691fab57e0b8bc9f96d0bdff55918c5484a08f4", + "stage": "adam", + "completed_passes": 319, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30624, + "adam_update_count": 30624, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 320, + "consumed_count": 319, + "last_submitted_update": 30624, + "last_consumed_update": 30528, + "pending": [ + { + "reference": { + "source_update": 30624, + "completed_passes": 319, + "next_interval": 0, + "trained_intervals": 30624, + "snapshot": "pass_end_0319", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30528, + "pass_science": { + "completed_passes": 319, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30624, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30624, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6281204295864882e-07, + "update_l2": 0.0050691720098257065 + }, + "raw_ground_friction": { + "gradient_l2": 1.002377075565164e-06, + "update_l2": 0.0006830692291259766 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.4212091886965936e-08, + "update_l2": 0.0013621195685118437 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1247240763623267e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1247240763623267e-05, + "observation_loss": 1.1247240763623267e-05, + "chamfer": 8.306570634886157e-06, + "track": 2.940670356110786e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 319, + "adam_update_count": 30624 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022415551999074523 + }, + "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_0d747cdb65534c9ab70ef105b99fdec1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 320, + "next_interval": 0, + "next_adam_update": 30625, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 319, + "trained_intervals": 30624, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30624, + "source_timestamp_s": 3.2, + "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": 5.174118518829346, + "median": 10.378366470336914, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4406452476978302, + "median": 0.4406452476978302, + "max": 0.4406452476978302, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.025177001953125, + "median": 10.322242736816406, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 176.64083862304688, + "median": 32156.388671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1124.5936279296875, + "median": 30401.36328125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4406452476978302, + "median": 0.4406452476978302, + "max": 0.4406452476978302, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 571, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0320.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0320.json new file mode 100644 index 0000000000000000000000000000000000000000..cab07b6e494a64e3dfb5a502af99bd566a4dcf4e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.16632485620039e-06, + "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_9208da9f4f144283b762f5bf0d60fa90.npz", + "optimizer_file": "boundary_9208da9f4f144283b762f5bf0d60fa90_optimizer.pt", + "arrays_sha256": "2f59f46360fcf7011d800dde7abd1406333068f5eb9a80b562c35bf0c87faa13", + "optimizer_sha256": "14d9b7cb190c4511968b5f674c06287f293a8bb799eb00beebb7dd1dae4c0a67", + "stage": "adam", + "completed_passes": 320, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30720, + "adam_update_count": 30720, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 321, + "consumed_count": 320, + "last_submitted_update": 30720, + "last_consumed_update": 30624, + "pending": [ + { + "reference": { + "source_update": 30720, + "completed_passes": 320, + "next_interval": 0, + "trained_intervals": 30720, + "snapshot": "pass_end_0320", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30624, + "pass_science": { + "completed_passes": 320, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30720, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30720, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.630333770208381e-07, + "update_l2": 0.0050661819986999035 + }, + "raw_ground_friction": { + "gradient_l2": 1.0309144045095309e-06, + "update_l2": 0.0006854832172393799 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.40825297481706e-08, + "update_l2": 0.001359857153147459 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.123231413657777e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.123231413657777e-05, + "observation_loss": 1.123231413657777e-05, + "chamfer": 8.297830390802119e-06, + "track": 2.934484200523002e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 320, + "adam_update_count": 30720 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022316026999760652 + }, + "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_9208da9f4f144283b762f5bf0d60fa90_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 321, + "next_interval": 0, + "next_adam_update": 30721, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 320, + "trained_intervals": 30720, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30720, + "source_timestamp_s": 3.2, + "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": 5.171689510345459, + "median": 10.378702163696289, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44089579582214355, + "median": 0.44089579582214355, + "max": 0.44089579582214355, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.022475242614746, + "median": 10.322220802307129, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 176.21229553222656, + "median": 32167.1875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1121.559326171875, + "median": 30400.697265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44089579582214355, + "median": 0.44089579582214355, + "max": 0.44089579582214355, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 572, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0321.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0321.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc66e98c89bb62e27feec4e1eb5a93e722c2473 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.161345903246759e-06, + "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_432216a7fec945cfb63ebf2af387c132.npz", + "optimizer_file": "boundary_432216a7fec945cfb63ebf2af387c132_optimizer.pt", + "arrays_sha256": "a552ffcddbedc78aa217fe4973e03dd39ad8ab83cddda74f4fc99c65fe98d438", + "optimizer_sha256": "d3268d58f54b6f6dfd871200edaf4ba38a3b95bbbf47cbae6cc47c934f0d62ff", + "stage": "adam", + "completed_passes": 321, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30816, + "adam_update_count": 30816, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 322, + "consumed_count": 321, + "last_submitted_update": 30816, + "last_consumed_update": 30720, + "pending": [ + { + "reference": { + "source_update": 30816, + "completed_passes": 321, + "next_interval": 0, + "trained_intervals": 30816, + "snapshot": "pass_end_0321", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30720, + "pass_science": { + "completed_passes": 321, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30816, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30816, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6269281388758827e-07, + "update_l2": 0.005050118546932936 + }, + "raw_ground_friction": { + "gradient_l2": 1.0425679874970228e-06, + "update_l2": 0.0006850063800811768 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.3753692346417665e-08, + "update_l2": 0.0013533553574234247 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1213372999918647e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1213372999918647e-05, + "observation_loss": 1.1213372999918647e-05, + "chamfer": 8.28646807349287e-06, + "track": 2.926904699052102e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 321, + "adam_update_count": 30816 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022485190000224975 + }, + "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_432216a7fec945cfb63ebf2af387c132_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 322, + "next_interval": 0, + "next_adam_update": 30817, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 321, + "trained_intervals": 30816, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30816, + "source_timestamp_s": 3.2, + "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": 5.16918420791626, + "median": 10.378824234008789, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4411877989768982, + "median": 0.4411877989768982, + "max": 0.4411877989768982, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.019815444946289, + "median": 10.322150230407715, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 175.77137756347656, + "median": 32171.11328125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1118.5802001953125, + "median": 30398.55078125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4411877989768982, + "median": 0.4411877989768982, + "max": 0.4411877989768982, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 574, + "controller_edge_stiffness": 87 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0322.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0322.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef06cf4baed87328cd23a0393ff00665f9379b2 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.159571910146194e-06, + "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_c718263624d64b1590d06a219b4d25b1.npz", + "optimizer_file": "boundary_c718263624d64b1590d06a219b4d25b1_optimizer.pt", + "arrays_sha256": "fc0cb588d60d8289ba49509521a3c4ccd425f94ab87e384d67481156c6b3175b", + "optimizer_sha256": "fc6ffb96275e26cac29009079b53cac49937bf9695b34df10b2b808d4e2dfd86", + "stage": "adam", + "completed_passes": 322, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 30912, + "adam_update_count": 30912, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 323, + "consumed_count": 322, + "last_submitted_update": 30912, + "last_consumed_update": 30816, + "pending": [ + { + "reference": { + "source_update": 30912, + "completed_passes": 322, + "next_interval": 0, + "trained_intervals": 30912, + "snapshot": "pass_end_0322", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30816, + "pass_science": { + "completed_passes": 322, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 30912, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 30912, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6154615423147334e-07, + "update_l2": 0.0050341044552624226 + }, + "raw_ground_friction": { + "gradient_l2": 1.0530195595492842e-06, + "update_l2": 0.0006811022758483887 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1569055874692822e-08, + "update_l2": 0.0012686358531937003 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.119773878599517e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.119773878599517e-05, + "observation_loss": 1.119773878599517e-05, + "chamfer": 8.277218512375839e-06, + "track": 2.9205207283666823e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 322, + "adam_update_count": 30912 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.0223770840002544 + }, + "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_c718263624d64b1590d06a219b4d25b1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 323, + "next_interval": 0, + "next_adam_update": 30913, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 322, + "trained_intervals": 30912, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 30912, + "source_timestamp_s": 3.2, + "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": 5.166685581207275, + "median": 10.378864288330078, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4414829611778259, + "median": 0.4414829611778259, + "max": 0.4414829611778259, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.017183780670166, + "median": 10.322134971618652, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 175.33274841308594, + "median": 32172.40234375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1115.6402587890625, + "median": 30398.087890625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4414829611778259, + "median": 0.4414829611778259, + "max": 0.4414829611778259, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 577, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0323.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0323.json new file mode 100644 index 0000000000000000000000000000000000000000..5a027d9c267076aea48c325dbe465a5bf3f1b6c6 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.155857886687045e-06, + "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_f9d04497d707433fbd615561f0ef656d.npz", + "optimizer_file": "boundary_f9d04497d707433fbd615561f0ef656d_optimizer.pt", + "arrays_sha256": "de1fe4a24f8756e3e72a83beaaebc7ca626ac4ad89fe39007998c02e419f6fb8", + "optimizer_sha256": "221f731d9a6de93fccd61cad2b23cf77559b98762f9227da6939b40d7c9a025c", + "stage": "adam", + "completed_passes": 323, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31008, + "adam_update_count": 31008, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 324, + "consumed_count": 323, + "last_submitted_update": 31008, + "last_consumed_update": 30912, + "pending": [ + { + "reference": { + "source_update": 31008, + "completed_passes": 323, + "next_interval": 0, + "trained_intervals": 31008, + "snapshot": "pass_end_0323", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 30912, + "pass_science": { + "completed_passes": 323, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31008, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31008, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6166649174920167e-07, + "update_l2": 0.005003728438168764 + }, + "raw_ground_friction": { + "gradient_l2": 1.0738978062363458e-06, + "update_l2": 0.000679314136505127 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1367251079595917e-08, + "update_l2": 0.0012593623250722885 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1180582077940926e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1180582077940926e-05, + "observation_loss": 1.1180582077940926e-05, + "chamfer": 8.26696395961335e-06, + "track": 2.9136178909539012e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 323, + "adam_update_count": 31008 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.023996162999537773 + }, + "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_f9d04497d707433fbd615561f0ef656d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 324, + "next_interval": 0, + "next_adam_update": 31009, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 323, + "trained_intervals": 31008, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31008, + "source_timestamp_s": 3.2, + "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": 5.164228916168213, + "median": 10.379071235656738, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4418586790561676, + "median": 0.4418586790561676, + "max": 0.4418586790561676, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.01458215713501, + "median": 10.32211971282959, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 174.9025421142578, + "median": 32179.05859375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1112.7415771484375, + "median": 30397.623046875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4418586790561676, + "median": 0.4418586790561676, + "max": 0.4418586790561676, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 580, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0324.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0324.json new file mode 100644 index 0000000000000000000000000000000000000000..ef0d20aa340000fb35fda93fa06bc9fa2505c90d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.1537354576397165e-06, + "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_64758cc58f21432da02cea91fc80b564.npz", + "optimizer_file": "boundary_64758cc58f21432da02cea91fc80b564_optimizer.pt", + "arrays_sha256": "d9ccfe7aafd8601a20da00d7edbef76212f9c32de2f3259c3f6224e41a39e68c", + "optimizer_sha256": "9bc96cd202fdf1a830d79d3de9ca017197b4d5c69ffc9e6a7dfc2558e893a403", + "stage": "adam", + "completed_passes": 324, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31104, + "adam_update_count": 31104, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 325, + "consumed_count": 324, + "last_submitted_update": 31104, + "last_consumed_update": 31008, + "pending": [ + { + "reference": { + "source_update": 31104, + "completed_passes": 324, + "next_interval": 0, + "trained_intervals": 31104, + "snapshot": "pass_end_0324", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31008, + "pass_science": { + "completed_passes": 324, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31104, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31104, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.604065857918613e-07, + "update_l2": 0.00495918421074748 + }, + "raw_ground_friction": { + "gradient_l2": 1.0569203823251883e-06, + "update_l2": 0.0006690025329589844 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.119166175873488e-08, + "update_l2": 0.0012454309035092592 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1153269952046685e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1153269952046685e-05, + "observation_loss": 1.1153269952046685e-05, + "chamfer": 8.250168320955709e-06, + "track": 2.903102085838327e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 324, + "adam_update_count": 31104 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022314812000331585 + }, + "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_64758cc58f21432da02cea91fc80b564_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 325, + "next_interval": 0, + "next_adam_update": 31105, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 324, + "trained_intervals": 31104, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31104, + "source_timestamp_s": 3.2, + "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": 5.1616973876953125, + "median": 10.379273414611816, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4423479437828064, + "median": 0.4423479437828064, + "max": 0.4423479437828064, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.012028694152832, + "median": 10.322134017944336, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 174.4603271484375, + "median": 32185.56640625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1109.9039306640625, + "median": 30398.05859375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4423479437828064, + "median": 0.4423479437828064, + "max": 0.4423479437828064, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 580, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0325.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0325.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7c11d3dece1bd70d990fa72c8ca6a17f383926 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.14990611546303e-06, + "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_419dfc331b4048c7a7a833127b7b2ffd.npz", + "optimizer_file": "boundary_419dfc331b4048c7a7a833127b7b2ffd_optimizer.pt", + "arrays_sha256": "138f00c5ef86ae2dc86b20d11d7ba2ddc9495ac33d7a5b7193bfb1e127767d3f", + "optimizer_sha256": "9834230a3f2897f4611d460c18b472d2b6d706e9da601c4cb57236ebc062939b", + "stage": "adam", + "completed_passes": 325, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31200, + "adam_update_count": 31200, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 326, + "consumed_count": 325, + "last_submitted_update": 31200, + "last_consumed_update": 31104, + "pending": [ + { + "reference": { + "source_update": 31200, + "completed_passes": 325, + "next_interval": 0, + "trained_intervals": 31200, + "snapshot": "pass_end_0325", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31104, + "pass_science": { + "completed_passes": 325, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31200, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31200, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.586024325206381e-07, + "update_l2": 0.004941289778798819 + }, + "raw_ground_friction": { + "gradient_l2": 1.0527911626923014e-06, + "update_l2": 0.0006636977195739746 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.094935247498597e-08, + "update_l2": 0.001237416872754693 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.112932659452781e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.112932659452781e-05, + "observation_loss": 1.112932659452781e-05, + "chamfer": 8.235476343543269e-06, + "track": 2.893850250984542e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 325, + "adam_update_count": 31200 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02238839200072107 + }, + "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_419dfc331b4048c7a7a833127b7b2ffd_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 326, + "next_interval": 0, + "next_adam_update": 31201, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 325, + "trained_intervals": 31200, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31200, + "source_timestamp_s": 3.2, + "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": 5.159065246582031, + "median": 10.379507064819336, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4428020417690277, + "median": 0.4428020417690277, + "max": 0.4428020417690277, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.009494781494141, + "median": 10.322113037109375, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 174.00172424316406, + "median": 32193.087890625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1107.094970703125, + "median": 30397.421875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4428020417690277, + "median": 0.4428020417690277, + "max": 0.4428020417690277, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 582, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0326.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0326.json new file mode 100644 index 0000000000000000000000000000000000000000..f3932c37bfc03c38072b25357f5a74e161862b13 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.146715174618142e-06, + "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_7473c205e26045b081407f5d85035a09.npz", + "optimizer_file": "boundary_7473c205e26045b081407f5d85035a09_optimizer.pt", + "arrays_sha256": "bace8b16954481ea99357984dec58601b2cdbb793300d9c5b128925f4d851cc8", + "optimizer_sha256": "b35ed44496d7fd21ddb2e407d37dbccbcc94457198ffd4c5826cc25761e81189", + "stage": "adam", + "completed_passes": 326, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31296, + "adam_update_count": 31296, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 327, + "consumed_count": 326, + "last_submitted_update": 31296, + "last_consumed_update": 31200, + "pending": [ + { + "reference": { + "source_update": 31296, + "completed_passes": 326, + "next_interval": 0, + "trained_intervals": 31296, + "snapshot": "pass_end_0326", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31200, + "pass_science": { + "completed_passes": 326, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31296, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31296, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.63047602086408e-07, + "update_l2": 0.004932990297675133 + }, + "raw_ground_friction": { + "gradient_l2": 1.0548433238000143e-06, + "update_l2": 0.0006597638130187988 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.131621457124311e-08, + "update_l2": 0.0012354508507996798 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1105162229796406e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1105162229796406e-05, + "observation_loss": 1.1105162229796406e-05, + "chamfer": 8.220532436098438e-06, + "track": 2.8846300210716436e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 326, + "adam_update_count": 31296 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02278900999954203 + }, + "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_7473c205e26045b081407f5d85035a09_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 327, + "next_interval": 0, + "next_adam_update": 31297, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 326, + "trained_intervals": 31296, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31296, + "source_timestamp_s": 3.2, + "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": 5.156327724456787, + "median": 10.379594802856445, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4433595538139343, + "median": 0.4433595538139343, + "max": 0.4433595538139343, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.0069661140441895, + "median": 10.322092056274414, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 173.5260467529297, + "median": 32195.9140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1104.299072265625, + "median": 30396.783203125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4433595538139343, + "median": 0.4433595538139343, + "max": 0.4433595538139343, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 586, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0327.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0327.json new file mode 100644 index 0000000000000000000000000000000000000000..ae692563d04b26f79fcf0d1b62ea1fb51d902911 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.141947638918585e-06, + "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_e9f60af5ca3747909c5138582874d43a.npz", + "optimizer_file": "boundary_e9f60af5ca3747909c5138582874d43a_optimizer.pt", + "arrays_sha256": "4cade44257a0770e942e0e22db5122ae020476742cfb8a8ee58282e8e590b016", + "optimizer_sha256": "c1eff8159eb383c889bed8f8edf7f07226632866f7c467c49d1a2efa96141c80", + "stage": "adam", + "completed_passes": 327, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31392, + "adam_update_count": 31392, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 328, + "consumed_count": 327, + "last_submitted_update": 31392, + "last_consumed_update": 31296, + "pending": [ + { + "reference": { + "source_update": 31392, + "completed_passes": 327, + "next_interval": 0, + "trained_intervals": 31392, + "snapshot": "pass_end_0327", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31296, + "pass_science": { + "completed_passes": 327, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31392, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31392, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6569659067044995e-07, + "update_l2": 0.004904973320662975 + }, + "raw_ground_friction": { + "gradient_l2": 1.0766417517515947e-06, + "update_l2": 0.0006542503833770752 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1570997432718286e-08, + "update_l2": 0.001224695355631411 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.108415744965896e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.108415744965896e-05, + "observation_loss": 1.108415744965896e-05, + "chamfer": 8.207372047763783e-06, + "track": 2.876785629268852e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 327, + "adam_update_count": 31392 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02225228099996457 + }, + "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_e9f60af5ca3747909c5138582874d43a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 328, + "next_interval": 0, + "next_adam_update": 31393, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 327, + "trained_intervals": 31392, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31392, + "source_timestamp_s": 3.2, + "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": 5.1534953117370605, + "median": 10.379847526550293, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.443974107503891, + "median": 0.443974107503891, + "max": 0.443974107503891, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.0044708251953125, + "median": 10.322071075439453, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 173.03524780273438, + "median": 32204.048828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1101.5469970703125, + "median": 30396.14453125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.443974107503891, + "median": 0.443974107503891, + "max": 0.443974107503891, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 588, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0328.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0328.json new file mode 100644 index 0000000000000000000000000000000000000000..6db0c526935b5dfa792c14cdbe382c37182f038f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.138837446518664e-06, + "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_c3411ed656004300aa3299d8152a77b7.npz", + "optimizer_file": "boundary_c3411ed656004300aa3299d8152a77b7_optimizer.pt", + "arrays_sha256": "e2d26325311b2f59bd0d131d60d23ebe5bb77c3961225f1d950a7ef76123ca32", + "optimizer_sha256": "59de35bf75c9a76935d92cfc1e19d29d09cfd007e7e21000b21ea911ff433162", + "stage": "adam", + "completed_passes": 328, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31488, + "adam_update_count": 31488, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 329, + "consumed_count": 328, + "last_submitted_update": 31488, + "last_consumed_update": 31392, + "pending": [ + { + "reference": { + "source_update": 31488, + "completed_passes": 328, + "next_interval": 0, + "trained_intervals": 31488, + "snapshot": "pass_end_0328", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31392, + "pass_science": { + "completed_passes": 328, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31488, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31488, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6436598571090144e-07, + "update_l2": 0.004907157272100449 + }, + "raw_ground_friction": { + "gradient_l2": 1.0858368568733567e-06, + "update_l2": 0.000657886266708374 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1512114756205847e-08, + "update_l2": 0.0012247677659615874 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1072110282839276e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1072110282839276e-05, + "observation_loss": 1.1072110282839276e-05, + "chamfer": 8.199944204534404e-06, + "track": 2.872166533052223e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 328, + "adam_update_count": 31488 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022356265000780695 + }, + "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_c3411ed656004300aa3299d8152a77b7_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 329, + "next_interval": 0, + "next_adam_update": 31489, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 328, + "trained_intervals": 31488, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31488, + "source_timestamp_s": 3.2, + "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": 5.150609970092773, + "median": 10.380110740661621, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44437509775161743, + "median": 0.44437509775161743, + "max": 0.44437509775161743, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 7.001980781555176, + "median": 10.322050094604492, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 172.53671264648438, + "median": 32212.529296875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1098.8074951171875, + "median": 30395.5078125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44437509775161743, + "median": 0.44437509775161743, + "max": 0.44437509775161743, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 588, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0329.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0329.json new file mode 100644 index 0000000000000000000000000000000000000000..6aef59e2eea19b70505183b8a44c474fe2ebe4b3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.136300726055349e-06, + "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_6ac06773bdd14263879511a9e691f682.npz", + "optimizer_file": "boundary_6ac06773bdd14263879511a9e691f682_optimizer.pt", + "arrays_sha256": "44d6d5f18caf64a948e8cce952673e5e66b46d211002d9124eb480a2f483b7ac", + "optimizer_sha256": "8afee6428d82c31479c7b5862f8e165aaa32a9a220ea877ae3638643820dfbaf", + "stage": "adam", + "completed_passes": 329, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31584, + "adam_update_count": 31584, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 330, + "consumed_count": 329, + "last_submitted_update": 31584, + "last_consumed_update": 31488, + "pending": [ + { + "reference": { + "source_update": 31584, + "completed_passes": 329, + "next_interval": 0, + "trained_intervals": 31584, + "snapshot": "pass_end_0329", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31488, + "pass_science": { + "completed_passes": 329, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31584, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31584, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6412275272159604e-07, + "update_l2": 0.004893645644187927 + }, + "raw_ground_friction": { + "gradient_l2": 1.0604369435895933e-06, + "update_l2": 0.0006561279296875 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1594791732582053e-08, + "update_l2": 0.0012216707691550255 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.105649698729394e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.105649698729394e-05, + "observation_loss": 1.105649698729394e-05, + "chamfer": 8.19015440356452e-06, + "track": 2.8663428111030953e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 329, + "adam_update_count": 31584 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022336087000439875 + }, + "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_6ac06773bdd14263879511a9e691f682_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 330, + "next_interval": 0, + "next_adam_update": 31585, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 329, + "trained_intervals": 31584, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31584, + "source_timestamp_s": 3.2, + "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": 5.147677421569824, + "median": 10.38029956817627, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4448840618133545, + "median": 0.4448840618133545, + "max": 0.4448840618133545, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.999480247497559, + "median": 10.322032928466797, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 172.03147888183594, + "median": 32218.611328125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1096.0633544921875, + "median": 30394.984375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4448840618133545, + "median": 0.4448840618133545, + "max": 0.4448840618133545, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 592, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0330.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0330.json new file mode 100644 index 0000000000000000000000000000000000000000..ea56a3c4a993c3550be05a3a122cf9cdd18ab236 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 7.133470691182235e-06, + "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_eb7a6d69942143e9a149ad7c73e2899a.npz", + "optimizer_file": "boundary_eb7a6d69942143e9a149ad7c73e2899a_optimizer.pt", + "arrays_sha256": "f235f898faf8e2b210b86341cbc51d0324b8aeea59bd159208a182399d321ba7", + "optimizer_sha256": "8ee2d51dd3bae0ee8d8adb7df960650eee92ebffb85dcd09add72b5d081a9488", + "stage": "adam", + "completed_passes": 330, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31680, + "adam_update_count": 31680, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 331, + "consumed_count": 330, + "last_submitted_update": 31680, + "last_consumed_update": 31584, + "pending": [ + { + "reference": { + "source_update": 31680, + "completed_passes": 330, + "next_interval": 0, + "trained_intervals": 31680, + "snapshot": "pass_end_0330", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31584, + "pass_science": { + "completed_passes": 330, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31680, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31680, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6416778692018852e-07, + "update_l2": 0.004890132695436478 + }, + "raw_ground_friction": { + "gradient_l2": 1.0755591119959718e-06, + "update_l2": 0.0006573200225830078 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.148610356300651e-08, + "update_l2": 0.0012208085972815752 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1040136087103747e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1040136087103747e-05, + "observation_loss": 1.1040136087103747e-05, + "chamfer": 8.179998985724524e-06, + "track": 2.8601373287528986e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 330, + "adam_update_count": 31680 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022307348999675014 + }, + "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_eb7a6d69942143e9a149ad7c73e2899a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 331, + "next_interval": 0, + "next_adam_update": 31681, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 330, + "trained_intervals": 31680, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31680, + "source_timestamp_s": 3.2, + "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": 5.144726276397705, + "median": 10.380355834960938, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4453239142894745, + "median": 0.4453239142894745, + "max": 0.4453239142894745, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.996987819671631, + "median": 10.322012901306152, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 171.52452087402344, + "median": 32220.423828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1093.3348388671875, + "median": 30394.376953125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4453239142894745, + "median": 0.4453239142894745, + "max": 0.4453239142894745, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 594, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0331.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0331.json new file mode 100644 index 0000000000000000000000000000000000000000..28036c358b49b488d4ef4baa4a2ca2b31ddf08d1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0331.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_0331", + "executed_epochs": 331, + "score": null, + "best_score": 7.131823871020515e-06, + "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_86eddb304c6745b58744d0418d15b93d.npz", + "optimizer_file": "boundary_86eddb304c6745b58744d0418d15b93d_optimizer.pt", + "arrays_sha256": "ab3974bb257a916b6299df3cbaaa2bc3295f1ccecdfcb3cae19e339d5c773c21", + "optimizer_sha256": "b757b1c8d2d52c53c4b84585ea137d0a0651c12d4456260f573b2043dba057b0", + "stage": "adam", + "completed_passes": 331, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31776, + "adam_update_count": 31776, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 332, + "consumed_count": 331, + "last_submitted_update": 31776, + "last_consumed_update": 31680, + "pending": [ + { + "reference": { + "source_update": 31776, + "completed_passes": 331, + "next_interval": 0, + "trained_intervals": 31776, + "snapshot": "pass_end_0331", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31680, + "pass_science": { + "completed_passes": 331, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31776, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31776, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6506969302554353e-07, + "update_l2": 0.004871252458542585 + }, + "raw_ground_friction": { + "gradient_l2": 1.0712475386753795e-06, + "update_l2": 0.0006569623947143555 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1554260598577457e-08, + "update_l2": 0.0012184290681034327 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.102252190321451e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.102252190321451e-05, + "observation_loss": 1.102252190321451e-05, + "chamfer": 8.168806743924506e-06, + "track": 2.85371538666368e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 331, + "adam_update_count": 31776 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022392359000150464 + }, + "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_86eddb304c6745b58744d0418d15b93d_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 332, + "next_interval": 0, + "next_adam_update": 31777, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 331, + "trained_intervals": 31776, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31776, + "source_timestamp_s": 3.2, + "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": 5.141749382019043, + "median": 10.38064193725586, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4458215832710266, + "median": 0.4458215832710266, + "max": 0.4458215832710266, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.994467258453369, + "median": 10.32198429107666, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 171.01467895507812, + "median": 32229.642578125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1090.58251953125, + "median": 30393.5078125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4458215832710266, + "median": 0.4458215832710266, + "max": 0.4458215832710266, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 597, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0332.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0332.json new file mode 100644 index 0000000000000000000000000000000000000000..8f671a7b1431cea086bf0f3bd7719687a1e4ef03 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0332.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_0332", + "executed_epochs": 332, + "score": null, + "best_score": 7.128778167479292e-06, + "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_3d321541c93a440f835d29ce882a3570.npz", + "optimizer_file": "boundary_3d321541c93a440f835d29ce882a3570_optimizer.pt", + "arrays_sha256": "9e6f9e416de44aa3689c7d6c88e636bb0d069174c71484099c9a617cbfdeb4f0", + "optimizer_sha256": "4448c37af9aa548bbf61f0ca858cb8f1ad503e8d0079040c545f256ca7a91e90", + "stage": "adam", + "completed_passes": 332, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31872, + "adam_update_count": 31872, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 333, + "consumed_count": 332, + "last_submitted_update": 31872, + "last_consumed_update": 31776, + "pending": [ + { + "reference": { + "source_update": 31872, + "completed_passes": 332, + "next_interval": 0, + "trained_intervals": 31872, + "snapshot": "pass_end_0332", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31776, + "pass_science": { + "completed_passes": 332, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31872, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31872, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6689044457507407e-07, + "update_l2": 0.004882377572357655 + }, + "raw_ground_friction": { + "gradient_l2": 1.1015682730430854e-06, + "update_l2": 0.0006594359874725342 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.16725517532268e-08, + "update_l2": 0.0012202666839584708 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.1009929039573763e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.1009929039573763e-05, + "observation_loss": 1.1009929039573763e-05, + "chamfer": 8.16085776023101e-06, + "track": 2.8490710519690765e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 332, + "adam_update_count": 31872 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022356303999913507 + }, + "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_3d321541c93a440f835d29ce882a3570_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 333, + "next_interval": 0, + "next_adam_update": 31873, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 332, + "trained_intervals": 31872, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31872, + "source_timestamp_s": 3.2, + "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": 5.138727188110352, + "median": 10.380794525146484, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4461956322193146, + "median": 0.4461956322193146, + "max": 0.4461956322193146, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.991958141326904, + "median": 10.32197093963623, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 170.4986114501953, + "median": 32234.5625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1087.849609375, + "median": 30393.1015625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4461956322193146, + "median": 0.4461956322193146, + "max": 0.4461956322193146, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 600, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0333.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0333.json new file mode 100644 index 0000000000000000000000000000000000000000..c387bb5e0b14755e4abf3a7e0ef3a1604218d8ba --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0333.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_0333", + "executed_epochs": 333, + "score": null, + "best_score": 7.126314438702745e-06, + "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_f1a3c61280754b959287150000e7b501.npz", + "optimizer_file": "boundary_f1a3c61280754b959287150000e7b501_optimizer.pt", + "arrays_sha256": "792137f115702ae018c8183898a5aa6bbb470a02956dbf8fd1b31aea4f4272aa", + "optimizer_sha256": "e62f6ed070346432e493e6090337301439db7d64dc8cd29b924ae63f09ed1b93", + "stage": "adam", + "completed_passes": 333, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 31968, + "adam_update_count": 31968, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 334, + "consumed_count": 333, + "last_submitted_update": 31968, + "last_consumed_update": 31872, + "pending": [ + { + "reference": { + "source_update": 31968, + "completed_passes": 333, + "next_interval": 0, + "trained_intervals": 31968, + "snapshot": "pass_end_0333", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31872, + "pass_science": { + "completed_passes": 333, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 31968, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 31968, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.669571219053978e-07, + "update_l2": 0.004858567379415035 + }, + "raw_ground_friction": { + "gradient_l2": 1.1131666042274446e-06, + "update_l2": 0.0006602704524993896 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1567618802009747e-08, + "update_l2": 0.001218726160004735 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.099359906220343e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.099359906220343e-05, + "observation_loss": 1.099359906220343e-05, + "chamfer": 8.150374924298376e-06, + "track": 2.843223683157703e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 333, + "adam_update_count": 31968 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022376302998964093 + }, + "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_f1a3c61280754b959287150000e7b501_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 334, + "next_interval": 0, + "next_adam_update": 31969, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 333, + "trained_intervals": 31968, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 31968, + "source_timestamp_s": 3.2, + "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": 5.135638236999512, + "median": 10.38104248046875, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44670504331588745, + "median": 0.44670504331588745, + "max": 0.44670504331588745, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.989470481872559, + "median": 10.321969985961914, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 169.97276306152344, + "median": 32242.556640625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1085.146728515625, + "median": 30393.072265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44670504331588745, + "median": 0.44670504331588745, + "max": 0.44670504331588745, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 602, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0334.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0334.json new file mode 100644 index 0000000000000000000000000000000000000000..fc96fa938637811d616dcd6541f42534d09b9da7 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0334.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_0334", + "executed_epochs": 334, + "score": null, + "best_score": 7.124447013969378e-06, + "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_7792b3b937ad42f3b454a984529c11b1.npz", + "optimizer_file": "boundary_7792b3b937ad42f3b454a984529c11b1_optimizer.pt", + "arrays_sha256": "879ea31081e09b1f28f5f42c88d32b282390e01eba9fe3ceef60efa3c4476da9", + "optimizer_sha256": "0f20b1c75271422ad60d00b38a8935313b0b99ac658bb271759947c81e5e1fcb", + "stage": "adam", + "completed_passes": 334, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32064, + "adam_update_count": 32064, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 335, + "consumed_count": 334, + "last_submitted_update": 32064, + "last_consumed_update": 31968, + "pending": [ + { + "reference": { + "source_update": 32064, + "completed_passes": 334, + "next_interval": 0, + "trained_intervals": 32064, + "snapshot": "pass_end_0334", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 31968, + "pass_science": { + "completed_passes": 334, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32064, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32064, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6563676297209895e-07, + "update_l2": 0.00485678855329752 + }, + "raw_ground_friction": { + "gradient_l2": 1.0842121582754771e-06, + "update_l2": 0.0006615817546844482 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1475665690218193e-08, + "update_l2": 0.001214603427797556 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0975146324199159e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0975146324199159e-05, + "observation_loss": 1.0975146324199159e-05, + "chamfer": 8.138467819662765e-06, + "track": 2.8366782771627186e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 334, + "adam_update_count": 32064 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022422408001148142 + }, + "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_7792b3b937ad42f3b454a984529c11b1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 335, + "next_interval": 0, + "next_adam_update": 32065, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 334, + "trained_intervals": 32064, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32064, + "source_timestamp_s": 3.2, + "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": 5.13250207901001, + "median": 10.381113052368164, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4473368525505066, + "median": 0.4473368525505066, + "max": 0.4473368525505066, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.986974716186523, + "median": 10.321961402893066, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 169.44053649902344, + "median": 32244.83203125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1082.4417724609375, + "median": 30392.8125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4473368525505066, + "median": 0.4473368525505066, + "max": 0.4473368525505066, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 603, + "controller_edge_stiffness": 88 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0335.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0335.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf4806a85cae6830b26f64de785c763b085d311 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0335.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_0335", + "executed_epochs": 335, + "score": null, + "best_score": 7.120099747718693e-06, + "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_20db429977844ec0959fd2d01bf1e1ed.npz", + "optimizer_file": "boundary_20db429977844ec0959fd2d01bf1e1ed_optimizer.pt", + "arrays_sha256": "871060de4c3f30c98be3d27b3a11fa37a4900d21c0cbc7de7e7f37ed912b9de8", + "optimizer_sha256": "96b6e9cf49ef0a768ccc7db1775b4dd7883ecb3f1d0978eb3f9fdaedbb19ff00", + "stage": "adam", + "completed_passes": 335, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32160, + "adam_update_count": 32160, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 336, + "consumed_count": 335, + "last_submitted_update": 32160, + "last_consumed_update": 32064, + "pending": [ + { + "reference": { + "source_update": 32160, + "completed_passes": 335, + "next_interval": 0, + "trained_intervals": 32160, + "snapshot": "pass_end_0335", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32064, + "pass_science": { + "completed_passes": 335, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32160, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32160, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6510142586412258e-07, + "update_l2": 0.0048561859875917435 + }, + "raw_ground_friction": { + "gradient_l2": 1.0799659548865748e-06, + "update_l2": 0.0006622970104217529 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1437742248053837e-08, + "update_l2": 0.0012133698910474777 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.095845436793752e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.095845436793752e-05, + "observation_loss": 1.095845436793752e-05, + "chamfer": 8.127773071464617e-06, + "track": 2.8306815238465788e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 335, + "adam_update_count": 32160 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022382343999197474 + }, + "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_20db429977844ec0959fd2d01bf1e1ed_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 336, + "next_interval": 0, + "next_adam_update": 32161, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 335, + "trained_intervals": 32160, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32160, + "source_timestamp_s": 3.2, + "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": 5.129213333129883, + "median": 10.38125228881836, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4477976858615875, + "median": 0.4477976858615875, + "max": 0.4477976858615875, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.984506130218506, + "median": 10.32194709777832, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 168.8842010498047, + "median": 32249.322265625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1079.7730712890625, + "median": 30392.375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4477976858615875, + "median": 0.4477976858615875, + "max": 0.4477976858615875, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 604, + "controller_edge_stiffness": 89 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0336.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0336.json new file mode 100644 index 0000000000000000000000000000000000000000..d944597d13083fef2ff5373d4460b9c8b689106e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0336.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_0336", + "executed_epochs": 336, + "score": null, + "best_score": 7.116738037401167e-06, + "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_2c691e75fcee43eabd5b4b4fc05a24cd.npz", + "optimizer_file": "boundary_2c691e75fcee43eabd5b4b4fc05a24cd_optimizer.pt", + "arrays_sha256": "7d4f21e5090358281fa48d59f4afb7a5b1eb6cafeefc73b56115eae3b345835e", + "optimizer_sha256": "b6b8b7e15db7ecbf18fd652116664c0147cc099fd31a7d409d6daeece5fff3a0", + "stage": "adam", + "completed_passes": 336, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32256, + "adam_update_count": 32256, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 337, + "consumed_count": 336, + "last_submitted_update": 32256, + "last_consumed_update": 32160, + "pending": [ + { + "reference": { + "source_update": 32256, + "completed_passes": 336, + "next_interval": 0, + "trained_intervals": 32256, + "snapshot": "pass_end_0336", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32160, + "pass_science": { + "completed_passes": 336, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32256, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32256, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.650925582907803e-07, + "update_l2": 0.004826785996556282 + }, + "raw_ground_friction": { + "gradient_l2": 1.0866717730095843e-06, + "update_l2": 0.0006529092788696289 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1573079322934063e-08, + "update_l2": 0.0011992232175543904 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0935948012047447e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0935948012047447e-05, + "observation_loss": 1.0935948012047447e-05, + "chamfer": 8.112989235087298e-06, + "track": 2.8229583222127985e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 336, + "adam_update_count": 32256 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02239217499845836 + }, + "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_2c691e75fcee43eabd5b4b4fc05a24cd_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 337, + "next_interval": 0, + "next_adam_update": 32257, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 336, + "trained_intervals": 32256, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32256, + "source_timestamp_s": 3.2, + "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": 5.125970363616943, + "median": 10.381363868713379, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4485488831996918, + "median": 0.4485488831996918, + "max": 0.4485488831996918, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.982081890106201, + "median": 10.321932792663574, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 168.33740234375, + "median": 32252.919921875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1077.1585693359375, + "median": 30391.94140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4485488831996918, + "median": 0.4485488831996918, + "max": 0.4485488831996918, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 605, + "controller_edge_stiffness": 89 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0337.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0337.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb782ea4e6e04e96afda307e2b29f49f45b2818 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0337.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_0337", + "executed_epochs": 337, + "score": null, + "best_score": 7.1114127422333695e-06, + "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_47a82e8ebeb44bdd8e85fc21c28d65af.npz", + "optimizer_file": "boundary_47a82e8ebeb44bdd8e85fc21c28d65af_optimizer.pt", + "arrays_sha256": "944321f3fefb8f48482f89933996cb089f75a90b8e9f7758f545501717ef0840", + "optimizer_sha256": "fd2c120cf5a5ddd32d269cce84a07014ab628772d3a3d6faf3eb9e573ee3a37a", + "stage": "adam", + "completed_passes": 337, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32352, + "adam_update_count": 32352, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 338, + "consumed_count": 337, + "last_submitted_update": 32352, + "last_consumed_update": 32256, + "pending": [ + { + "reference": { + "source_update": 32352, + "completed_passes": 337, + "next_interval": 0, + "trained_intervals": 32352, + "snapshot": "pass_end_0337", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32256, + "pass_science": { + "completed_passes": 337, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32352, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32352, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6741935837671917e-07, + "update_l2": 0.004789397120475769 + }, + "raw_ground_friction": { + "gradient_l2": 1.0849723821593216e-06, + "update_l2": 0.0006486177444458008 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1716214604339257e-08, + "update_l2": 0.0011868072906509042 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0914140148088336e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0914140148088336e-05, + "observation_loss": 1.0914140148088336e-05, + "chamfer": 8.098804755718447e-06, + "track": 2.815335619743564e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 337, + "adam_update_count": 32352 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02248830800090218 + }, + "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_47a82e8ebeb44bdd8e85fc21c28d65af_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 338, + "next_interval": 0, + "next_adam_update": 32353, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 337, + "trained_intervals": 32352, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32352, + "source_timestamp_s": 3.2, + "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": 5.122683048248291, + "median": 10.38132095336914, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44927531480789185, + "median": 0.44927531480789185, + "max": 0.44927531480789185, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.979698657989502, + "median": 10.321918487548828, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 167.78494262695312, + "median": 32251.53515625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1074.594482421875, + "median": 30391.5078125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44927531480789185, + "median": 0.44927531480789185, + "max": 0.44927531480789185, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 605, + "controller_edge_stiffness": 89 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0338.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0338.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d484631d6178924301ae1dd9059774d67b9b78 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0338.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_0338", + "executed_epochs": 338, + "score": null, + "best_score": 7.106091407157085e-06, + "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_1f102f1a37e14f26a1e5ed6d6217bab2.npz", + "optimizer_file": "boundary_1f102f1a37e14f26a1e5ed6d6217bab2_optimizer.pt", + "arrays_sha256": "c6c78d9100acbdf09997534bcc94c44e8799b9a8a4756b0657f16a6ef5dbd2c6", + "optimizer_sha256": "893a497e05c1af135eb37ff72b0a22dcba83a5d82167f717b5c1159bea2466c1", + "stage": "adam", + "completed_passes": 338, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32448, + "adam_update_count": 32448, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 339, + "consumed_count": 338, + "last_submitted_update": 32448, + "last_consumed_update": 32352, + "pending": [ + { + "reference": { + "source_update": 32448, + "completed_passes": 338, + "next_interval": 0, + "trained_intervals": 32448, + "snapshot": "pass_end_0338", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32352, + "pass_science": { + "completed_passes": 338, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32448, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32448, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6869951480202872e-07, + "update_l2": 0.004791539628058672 + }, + "raw_ground_friction": { + "gradient_l2": 1.0882517926802393e-06, + "update_l2": 0.0006541907787322998 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.178575364553126e-08, + "update_l2": 0.0011908664600923657 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0904464033956174e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0904464033956174e-05, + "observation_loss": 1.0904464033956174e-05, + "chamfer": 8.092541065707337e-06, + "track": 2.8119227408751613e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 338, + "adam_update_count": 32448 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02250792699851445 + }, + "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_1f102f1a37e14f26a1e5ed6d6217bab2_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 339, + "next_interval": 0, + "next_adam_update": 32449, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 338, + "trained_intervals": 32448, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32448, + "source_timestamp_s": 3.2, + "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": 5.119422912597656, + "median": 10.381409645080566, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.44980767369270325, + "median": 0.44980767369270325, + "max": 0.44980767369270325, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.977294445037842, + "median": 10.321914672851562, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 167.23883056640625, + "median": 32254.396484375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1072.0140380859375, + "median": 30391.390625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.44980767369270325, + "median": 0.44980767369270325, + "max": 0.44980767369270325, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 609, + "controller_edge_stiffness": 90 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0339.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0339.json new file mode 100644 index 0000000000000000000000000000000000000000..930ebf335e06c92a8e47252e008b0b1bdb5bf66d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0339.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_0339", + "executed_epochs": 339, + "score": null, + "best_score": 7.102287824523046e-06, + "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_8cf92ad465cc4c43a026e7feb35b4b32.npz", + "optimizer_file": "boundary_8cf92ad465cc4c43a026e7feb35b4b32_optimizer.pt", + "arrays_sha256": "c584788e4fbf3c820171239c915f16d2655f9b021c3bef27d73bce7470492c25", + "optimizer_sha256": "05c7c3071ec935d72069270e6dadd4b74ffde5101d1d23e187e490ad03065cdd", + "stage": "adam", + "completed_passes": 339, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32544, + "adam_update_count": 32544, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 340, + "consumed_count": 339, + "last_submitted_update": 32544, + "last_consumed_update": 32448, + "pending": [ + { + "reference": { + "source_update": 32544, + "completed_passes": 339, + "next_interval": 0, + "trained_intervals": 32544, + "snapshot": "pass_end_0339", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32448, + "pass_science": { + "completed_passes": 339, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32544, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32544, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6843077332850953e-07, + "update_l2": 0.004786045290529728 + }, + "raw_ground_friction": { + "gradient_l2": 1.0980542128891102e-06, + "update_l2": 0.00065651535987854 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.158543566110893e-08, + "update_l2": 0.0011930502951145172 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.088567660190165e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.088567660190165e-05, + "observation_loss": 1.088567660190165e-05, + "chamfer": 8.08033837529365e-06, + "track": 2.8053386813553516e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 339, + "adam_update_count": 32544 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.023040587000650703 + }, + "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_8cf92ad465cc4c43a026e7feb35b4b32_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 340, + "next_interval": 0, + "next_adam_update": 32545, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 339, + "trained_intervals": 32544, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32544, + "source_timestamp_s": 3.2, + "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": 5.116159915924072, + "median": 10.381726264953613, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45047441124916077, + "median": 0.45047441124916077, + "max": 0.45047441124916077, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.974908351898193, + "median": 10.321919441223145, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 166.6940155029297, + "median": 32264.609375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1069.459228515625, + "median": 30391.537109375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45047441124916077, + "median": 0.45047441124916077, + "max": 0.45047441124916077, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 612, + "controller_edge_stiffness": 90 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0340.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0340.json new file mode 100644 index 0000000000000000000000000000000000000000..4fcf4b0c681e2a7266d773f261932ad0bcc63729 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0340.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_0340", + "executed_epochs": 340, + "score": null, + "best_score": 7.097776628957793e-06, + "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_432e0cca0cb442b2b381e48a1c0448e0.npz", + "optimizer_file": "boundary_432e0cca0cb442b2b381e48a1c0448e0_optimizer.pt", + "arrays_sha256": "1dacc6261134beb62bdfbc1a6c7d470c76d4550e98e47c33af0ad667d91bdc1a", + "optimizer_sha256": "ee765b50a2d83a0f2d1ce16d1a4a6e1383a754285ad7cf92e338508488a5c410", + "stage": "adam", + "completed_passes": 340, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32640, + "adam_update_count": 32640, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 341, + "consumed_count": 340, + "last_submitted_update": 32640, + "last_consumed_update": 32544, + "pending": [ + { + "reference": { + "source_update": 32640, + "completed_passes": 340, + "next_interval": 0, + "trained_intervals": 32640, + "snapshot": "pass_end_0340", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32544, + "pass_science": { + "completed_passes": 340, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32640, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32640, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6773250877122337e-07, + "update_l2": 0.00476992828771472 + }, + "raw_ground_friction": { + "gradient_l2": 1.0924881053142599e-06, + "update_l2": 0.0006569623947143555 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1505638159169393e-08, + "update_l2": 0.0011915334034711123 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0871648555621505e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0871648555621505e-05, + "observation_loss": 1.0871648555621505e-05, + "chamfer": 8.071441698120907e-06, + "track": 2.8002066301269224e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 340, + "adam_update_count": 32640 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02271553200080234 + }, + "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_432e0cca0cb442b2b381e48a1c0448e0_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 341, + "next_interval": 0, + "next_adam_update": 32641, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 340, + "trained_intervals": 32640, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32640, + "source_timestamp_s": 3.2, + "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": 5.1129069328308105, + "median": 10.381746292114258, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45092737674713135, + "median": 0.45092737674713135, + "max": 0.45092737674713135, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.972530841827393, + "median": 10.321897506713867, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 166.15264892578125, + "median": 32265.255859375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1066.9195556640625, + "median": 30390.869140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45092737674713135, + "median": 0.45092737674713135, + "max": 0.45092737674713135, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 615, + "controller_edge_stiffness": 90 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0341.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0341.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b4623b01d5cad7e7f26f9937aaea7c6719a228 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0341.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_0341", + "executed_epochs": 341, + "score": null, + "best_score": 7.090340166845029e-06, + "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_460392bbf2984b4db84cb8b35f3777c0.npz", + "optimizer_file": "boundary_460392bbf2984b4db84cb8b35f3777c0_optimizer.pt", + "arrays_sha256": "9910056f420ca817d1c7ca41a9a7a076f47a87d4689c97ffae0acea5038e399f", + "optimizer_sha256": "2af754e2fdf89e4af9e429df49d7892fb4a5876545307748330a8909deefab51", + "stage": "adam", + "completed_passes": 341, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32736, + "adam_update_count": 32736, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 342, + "consumed_count": 341, + "last_submitted_update": 32736, + "last_consumed_update": 32640, + "pending": [ + { + "reference": { + "source_update": 32736, + "completed_passes": 341, + "next_interval": 0, + "trained_intervals": 32736, + "snapshot": "pass_end_0341", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32640, + "pass_science": { + "completed_passes": 341, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32736, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32736, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.68812618994707e-07, + "update_l2": 0.0047520059160888195 + }, + "raw_ground_friction": { + "gradient_l2": 1.1199017535545863e-06, + "update_l2": 0.0006543397903442383 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.13475122023965e-08, + "update_l2": 0.0011855479096993804 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0855053915292956e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0855053915292956e-05, + "observation_loss": 1.0855053915292956e-05, + "chamfer": 8.060717846092302e-06, + "track": 2.7943365239480045e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 341, + "adam_update_count": 32736 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022357910998834996 + }, + "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_460392bbf2984b4db84cb8b35f3777c0_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 342, + "next_interval": 0, + "next_adam_update": 32737, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 341, + "trained_intervals": 32736, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32736, + "source_timestamp_s": 3.2, + "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": 5.109643459320068, + "median": 10.382064819335938, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4513695240020752, + "median": 0.4513695240020752, + "max": 0.4513695240020752, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.970180034637451, + "median": 10.321861267089844, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 165.61129760742188, + "median": 32275.53515625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1064.414306640625, + "median": 30389.76953125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4513695240020752, + "median": 0.4513695240020752, + "max": 0.4513695240020752, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 617, + "controller_edge_stiffness": 90 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0342.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0342.json new file mode 100644 index 0000000000000000000000000000000000000000..1680cbd8cc07f14cfc407b0db6bc29a963bae3b1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0342.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_0342", + "executed_epochs": 342, + "score": null, + "best_score": 7.087580208064992e-06, + "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_2655d86674d04e70a20d4ac9de65ebc5.npz", + "optimizer_file": "boundary_2655d86674d04e70a20d4ac9de65ebc5_optimizer.pt", + "arrays_sha256": "96fba8cfe01875767ff80392fd886765cba65f663162eb75bc89cd12b0d7432f", + "optimizer_sha256": "91ef4492c0e0d7ddc0e0219518170a6f67600841b028e9127be055db964e7027", + "stage": "adam", + "completed_passes": 342, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32832, + "adam_update_count": 32832, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 343, + "consumed_count": 342, + "last_submitted_update": 32832, + "last_consumed_update": 32736, + "pending": [ + { + "reference": { + "source_update": 32832, + "completed_passes": 342, + "next_interval": 0, + "trained_intervals": 32832, + "snapshot": "pass_end_0342", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32736, + "pass_science": { + "completed_passes": 342, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32832, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32832, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.701825596001072e-07, + "update_l2": 0.004716025665402412 + }, + "raw_ground_friction": { + "gradient_l2": 1.1234444627916673e-06, + "update_l2": 0.0006549656391143799 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1244133563413925e-08, + "update_l2": 0.0011838515056297183 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0832780390046537e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0832780390046537e-05, + "observation_loss": 1.0832780390046537e-05, + "chamfer": 8.046459697652608e-06, + "track": 2.786320237646578e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 342, + "adam_update_count": 32832 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.023688911000135704 + }, + "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_2655d86674d04e70a20d4ac9de65ebc5_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 343, + "next_interval": 0, + "next_adam_update": 32833, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 342, + "trained_intervals": 32832, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32832, + "source_timestamp_s": 3.2, + "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": 5.1062493324279785, + "median": 10.382471084594727, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45196443796157837, + "median": 0.45196443796157837, + "max": 0.45196443796157837, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.967852592468262, + "median": 10.321846961975098, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 165.05014038085938, + "median": 32288.650390625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1061.9398193359375, + "median": 30389.333984375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45196443796157837, + "median": 0.45196443796157837, + "max": 0.45196443796157837, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 621, + "controller_edge_stiffness": 90 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0343.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0343.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ce8ae66b1c5bd35fd304203a64c8febf73bfb0 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0343.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_0343", + "executed_epochs": 343, + "score": null, + "best_score": 7.0822860559853025e-06, + "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_64c85e73e45c4dbba967fa01162a501c.npz", + "optimizer_file": "boundary_64c85e73e45c4dbba967fa01162a501c_optimizer.pt", + "arrays_sha256": "9d4af57c1ad610f769c7528db7a7c4fa02e08b729d043186e41014c430294001", + "optimizer_sha256": "c2840bd7ceb665e21a15111760739dba1e8313f1409241b35551cc88aedfc5de", + "stage": "adam", + "completed_passes": 343, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 32928, + "adam_update_count": 32928, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 344, + "consumed_count": 343, + "last_submitted_update": 32928, + "last_consumed_update": 32832, + "pending": [ + { + "reference": { + "source_update": 32928, + "completed_passes": 343, + "next_interval": 0, + "trained_intervals": 32928, + "snapshot": "pass_end_0343", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32832, + "pass_science": { + "completed_passes": 343, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 32928, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 32928, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7083333148093516e-07, + "update_l2": 0.0047219423577189445 + }, + "raw_ground_friction": { + "gradient_l2": 1.137026174546918e-06, + "update_l2": 0.0006539225578308105 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1152851914507664e-08, + "update_l2": 0.0011850032024085522 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0816880603670143e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0816880603670143e-05, + "observation_loss": 1.0816880603670143e-05, + "chamfer": 8.036266081035137e-06, + "track": 2.7806145226350054e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 343, + "adam_update_count": 32928 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022220505999939633 + }, + "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_64c85e73e45c4dbba967fa01162a501c_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 344, + "next_interval": 0, + "next_adam_update": 32929, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 343, + "trained_intervals": 32928, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 32928, + "source_timestamp_s": 3.2, + "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": 5.1028361320495605, + "median": 10.382559776306152, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4524238705635071, + "median": 0.4524238705635071, + "max": 0.4524238705635071, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.965496063232422, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 164.4877471923828, + "median": 32291.513671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1059.4403076171875, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4524238705635071, + "median": 0.4524238705635071, + "max": 0.4524238705635071, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 622, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0344.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0344.json new file mode 100644 index 0000000000000000000000000000000000000000..902d080973ac51e56157460c6a11136cf4cbcc44 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0344.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_0344", + "executed_epochs": 344, + "score": null, + "best_score": 7.0747092379974674e-06, + "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_412f3070f70847c38109f6032a785f42.npz", + "optimizer_file": "boundary_412f3070f70847c38109f6032a785f42_optimizer.pt", + "arrays_sha256": "d5027fdc94caee353b401c1e10c9f8e8a21ade49b8bee2c4bf46efccc22339c5", + "optimizer_sha256": "658370717ff4bfaff54c383dc68550bce865dc4a6eac81b0c2b8f50f9a1cc443", + "stage": "adam", + "completed_passes": 344, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33024, + "adam_update_count": 33024, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 345, + "consumed_count": 344, + "last_submitted_update": 33024, + "last_consumed_update": 32928, + "pending": [ + { + "reference": { + "source_update": 33024, + "completed_passes": 344, + "next_interval": 0, + "trained_intervals": 33024, + "snapshot": "pass_end_0344", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 32928, + "pass_science": { + "completed_passes": 344, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33024, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33024, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7108196459503233e-07, + "update_l2": 0.00471380865201354 + }, + "raw_ground_friction": { + "gradient_l2": 1.1328864957249607e-06, + "update_l2": 0.0006462931632995605 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1147883444427862e-08, + "update_l2": 0.0011758070904761553 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0810198546096217e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0810198546096217e-05, + "observation_loss": 1.0810198546096217e-05, + "chamfer": 8.032285222725477e-06, + "track": 2.7779135507444153e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 344, + "adam_update_count": 33024 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02240821300074458 + }, + "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_412f3070f70847c38109f6032a785f42_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 345, + "next_interval": 0, + "next_adam_update": 33025, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 344, + "trained_intervals": 33024, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33024, + "source_timestamp_s": 3.2, + "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": 5.099632740020752, + "median": 10.3825101852417, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45256492495536804, + "median": 0.45256492495536804, + "max": 0.45256492495536804, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.963126182556152, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 163.96168518066406, + "median": 32289.912109375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1056.9324951171875, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45256492495536804, + "median": 0.45256492495536804, + "max": 0.45256492495536804, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 624, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0345.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0345.json new file mode 100644 index 0000000000000000000000000000000000000000..9d662f98d1766baa6faf26e078a7c3c04b61e40f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0345.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_0345", + "executed_epochs": 345, + "score": null, + "best_score": 7.069659076819335e-06, + "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_9f4d58fbb8834490abf58623585bf0cb.npz", + "optimizer_file": "boundary_9f4d58fbb8834490abf58623585bf0cb_optimizer.pt", + "arrays_sha256": "357d5f11546538a5b1434e83d76cb65cc4cab84f3d5e05e53d82fd0fde2c66ae", + "optimizer_sha256": "c92ba06de1f113222e623d4b6e33410c894e67fafbc71dcc66e384711f2f7cd8", + "stage": "adam", + "completed_passes": 345, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33120, + "adam_update_count": 33120, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 346, + "consumed_count": 345, + "last_submitted_update": 33120, + "last_consumed_update": 33024, + "pending": [ + { + "reference": { + "source_update": 33120, + "completed_passes": 345, + "next_interval": 0, + "trained_intervals": 33120, + "snapshot": "pass_end_0345", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33024, + "pass_science": { + "completed_passes": 345, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33120, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33120, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7215671732628834e-07, + "update_l2": 0.004730415064841509 + }, + "raw_ground_friction": { + "gradient_l2": 1.1700395816660603e-06, + "update_l2": 0.0006490051746368408 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1188563792406967e-08, + "update_l2": 0.0011751175625249743 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0803875738929491e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0803875738929491e-05, + "observation_loss": 1.0803875738929491e-05, + "chamfer": 8.028281627048273e-06, + "track": 2.7755938845075434e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 345, + "adam_update_count": 33120 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02230598800088046 + }, + "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_9f4d58fbb8834490abf58623585bf0cb_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 346, + "next_interval": 0, + "next_adam_update": 33121, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 345, + "trained_intervals": 33120, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33120, + "source_timestamp_s": 3.2, + "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": 5.096648216247559, + "median": 10.382695198059082, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4529123306274414, + "median": 0.4529123306274414, + "max": 0.4529123306274414, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.960776329040527, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 163.4730682373047, + "median": 32295.88671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1054.451904296875, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4529123306274414, + "median": 0.4529123306274414, + "max": 0.4529123306274414, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 625, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0346.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0346.json new file mode 100644 index 0000000000000000000000000000000000000000..817ecf8243e7ec1df6b1a908b5f2e59f2f4cbe72 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0346.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_0346", + "executed_epochs": 346, + "score": null, + "best_score": 7.0650386329399835e-06, + "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_26bd79fe293c46e8ab8941d1b44df202.npz", + "optimizer_file": "boundary_26bd79fe293c46e8ab8941d1b44df202_optimizer.pt", + "arrays_sha256": "830f230cbd49a74e6a70eacebdff192bd701189658b815d235449b63c0d3e5ea", + "optimizer_sha256": "4bc733c0c2f23a31b2b08c3c766a10143e5c60f19f6231df049f6188c4daf094", + "stage": "adam", + "completed_passes": 346, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33216, + "adam_update_count": 33216, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 347, + "consumed_count": 346, + "last_submitted_update": 33216, + "last_consumed_update": 33120, + "pending": [ + { + "reference": { + "source_update": 33216, + "completed_passes": 346, + "next_interval": 0, + "trained_intervals": 33216, + "snapshot": "pass_end_0346", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33120, + "pass_science": { + "completed_passes": 346, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33216, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33216, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.6894492205210554e-07, + "update_l2": 0.004717574454843998 + }, + "raw_ground_friction": { + "gradient_l2": 1.154604888142785e-06, + "update_l2": 0.0006460845470428467 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1016452578237477e-08, + "update_l2": 0.0011673357803374529 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0784892765514087e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0784892765514087e-05, + "observation_loss": 1.0784892765514087e-05, + "chamfer": 8.01607075118227e-06, + "track": 2.768822241705493e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 346, + "adam_update_count": 33216 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022587253999517998 + }, + "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_26bd79fe293c46e8ab8941d1b44df202_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 347, + "next_interval": 0, + "next_adam_update": 33217, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 346, + "trained_intervals": 33216, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33216, + "source_timestamp_s": 3.2, + "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": 5.093692779541016, + "median": 10.382832527160645, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4535309076309204, + "median": 0.4535309076309204, + "max": 0.4535309076309204, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.9584455490112305, + "median": 10.321789741516113, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 162.99063110351562, + "median": 32300.322265625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1051.9969482421875, + "median": 30387.59375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4535309076309204, + "median": 0.4535309076309204, + "max": 0.4535309076309204, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 626, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0347.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0347.json new file mode 100644 index 0000000000000000000000000000000000000000..c24eea2e8e11204f43898cf4a2f33f759e68402b --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0347.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_0347", + "executed_epochs": 347, + "score": null, + "best_score": 7.059400888446514e-06, + "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_7db18729f2af4cf19f28eb3164d12011.npz", + "optimizer_file": "boundary_7db18729f2af4cf19f28eb3164d12011_optimizer.pt", + "arrays_sha256": "420792b5c8b8be8483cf998413d0c827c2481a79447f928a10128871f787191d", + "optimizer_sha256": "e6236edd5cd62d4a86f73e9c892df54f954ccc2147e828d1690ae00670ce001b", + "stage": "adam", + "completed_passes": 347, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33312, + "adam_update_count": 33312, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 348, + "consumed_count": 347, + "last_submitted_update": 33312, + "last_consumed_update": 33216, + "pending": [ + { + "reference": { + "source_update": 33312, + "completed_passes": 347, + "next_interval": 0, + "trained_intervals": 33312, + "snapshot": "pass_end_0347", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33216, + "pass_science": { + "completed_passes": 347, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33312, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33312, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7157631759801006e-07, + "update_l2": 0.004698021337389946 + }, + "raw_ground_friction": { + "gradient_l2": 1.143911049439339e-06, + "update_l2": 0.0006494224071502686 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.130667020594501e-08, + "update_l2": 0.001164266257546842 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0761195881059393e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0761195881059393e-05, + "observation_loss": 1.0761195881059393e-05, + "chamfer": 8.000638445082586e-06, + "track": 2.7605576633504825e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 347, + "adam_update_count": 33312 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02260796700102219 + }, + "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_7db18729f2af4cf19f28eb3164d12011_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 348, + "next_interval": 0, + "next_adam_update": 33313, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 347, + "trained_intervals": 33312, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33312, + "source_timestamp_s": 3.2, + "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": 5.090616226196289, + "median": 10.383058547973633, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45436689257621765, + "median": 0.45436689257621765, + "max": 0.45436689257621765, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.956103801727295, + "median": 10.321791648864746, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 162.48995971679688, + "median": 32307.625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1049.536376953125, + "median": 30387.65234375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45436689257621765, + "median": 0.45436689257621765, + "max": 0.45436689257621765, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 627, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0348.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0348.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8fdeff9ee8bed1feec4b8a93e113689e7199e4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0348.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_0348", + "executed_epochs": 348, + "score": null, + "best_score": 7.052564453620865e-06, + "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_6103403e6b4548698aaddbcb414f6319.npz", + "optimizer_file": "boundary_6103403e6b4548698aaddbcb414f6319_optimizer.pt", + "arrays_sha256": "6b0ab2a87427501e3208014e35dd79b2278de9b8ed217d3b225aad720cf42296", + "optimizer_sha256": "b68dd4b6b2dbc15d4ccf35488441aa0eab23153186b3e9b7fe3efced7075b286", + "stage": "adam", + "completed_passes": 348, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33408, + "adam_update_count": 33408, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 349, + "consumed_count": 348, + "last_submitted_update": 33408, + "last_consumed_update": 33312, + "pending": [ + { + "reference": { + "source_update": 33408, + "completed_passes": 348, + "next_interval": 0, + "trained_intervals": 33408, + "snapshot": "pass_end_0348", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33312, + "pass_science": { + "completed_passes": 348, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33408, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33408, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7285520925724995e-07, + "update_l2": 0.004663209430873394 + }, + "raw_ground_friction": { + "gradient_l2": 1.1573487199711963e-06, + "update_l2": 0.0006520450115203857 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.11583763842782e-08, + "update_l2": 0.0011557146208360791 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0736949661804829e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0736949661804829e-05, + "observation_loss": 1.0736949661804829e-05, + "chamfer": 7.984913281688932e-06, + "track": 2.7520363801158965e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 348, + "adam_update_count": 33408 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022329931000058423 + }, + "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_6103403e6b4548698aaddbcb414f6319_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 349, + "next_interval": 0, + "next_adam_update": 33409, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 348, + "trained_intervals": 33408, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33408, + "source_timestamp_s": 3.2, + "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": 5.087334632873535, + "median": 10.383118629455566, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4549897611141205, + "median": 0.4549897611141205, + "max": 0.4549897611141205, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.953738689422607, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 161.95761108398438, + "median": 32309.56640625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1047.05712890625, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4549897611141205, + "median": 0.4549897611141205, + "max": 0.4549897611141205, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 629, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0349.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0349.json new file mode 100644 index 0000000000000000000000000000000000000000..cb65d6b3202b4d0812055ed7d66e2db3f988227c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0349.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_0349", + "executed_epochs": 349, + "score": null, + "best_score": 7.047474866794801e-06, + "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_1ea3c521a378416381073ac9e25ed3a7.npz", + "optimizer_file": "boundary_1ea3c521a378416381073ac9e25ed3a7_optimizer.pt", + "arrays_sha256": "874dff30132d93f993a625340e2e117465340f9a3ff3b827d5c2355bd6ed68f2", + "optimizer_sha256": "b3405afeec776bebc3cc9d6816d098a1badaf150094f1346bbe3f340b5af3f6b", + "stage": "adam", + "completed_passes": 349, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33504, + "adam_update_count": 33504, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 350, + "consumed_count": 349, + "last_submitted_update": 33504, + "last_consumed_update": 33408, + "pending": [ + { + "reference": { + "source_update": 33504, + "completed_passes": 349, + "next_interval": 0, + "trained_intervals": 33504, + "snapshot": "pass_end_0349", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33408, + "pass_science": { + "completed_passes": 349, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33504, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33504, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7381755412770872e-07, + "update_l2": 0.004656726028770208 + }, + "raw_ground_friction": { + "gradient_l2": 1.1851431054310524e-06, + "update_l2": 0.000655442476272583 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.107458207945001e-08, + "update_l2": 0.0011568684130907059 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0716631550167222e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0716631550167222e-05, + "observation_loss": 1.0716631550167222e-05, + "chamfer": 7.971526429173537e-06, + "track": 2.745105120993685e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 349, + "adam_update_count": 33504 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02249313200081815 + }, + "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_1ea3c521a378416381073ac9e25ed3a7_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 350, + "next_interval": 0, + "next_adam_update": 33505, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 349, + "trained_intervals": 33504, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33504, + "source_timestamp_s": 3.2, + "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": 5.083925724029541, + "median": 10.383027076721191, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4556756019592285, + "median": 0.4556756019592285, + "max": 0.4556756019592285, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.951379299163818, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 161.4064483642578, + "median": 32306.609375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1044.589599609375, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4556756019592285, + "median": 0.4556756019592285, + "max": 0.4556756019592285, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 631, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0350.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0350.json new file mode 100644 index 0000000000000000000000000000000000000000..05e973ff9f19423c0e749ac1a7e0270eb0a4e7e3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0350.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_0350", + "executed_epochs": 350, + "score": null, + "best_score": 7.04361659368639e-06, + "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_c997a9b3c24342d4908a316943915570.npz", + "optimizer_file": "boundary_c997a9b3c24342d4908a316943915570_optimizer.pt", + "arrays_sha256": "8cf279d7ce4f4fb68be1f130bef79553ed3925c7db962f9f4a9860c9b849c2aa", + "optimizer_sha256": "c3f64ec680028ba6337b52bef9dac9b3fd6ad0f2802652341362c8c1600e8153", + "stage": "adam", + "completed_passes": 350, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33600, + "adam_update_count": 33600, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 351, + "consumed_count": 350, + "last_submitted_update": 33600, + "last_consumed_update": 33504, + "pending": [ + { + "reference": { + "source_update": 33600, + "completed_passes": 350, + "next_interval": 0, + "trained_intervals": 33600, + "snapshot": "pass_end_0350", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33504, + "pass_science": { + "completed_passes": 350, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33600, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33600, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7210828673341894e-07, + "update_l2": 0.004634279292076826 + }, + "raw_ground_friction": { + "gradient_l2": 1.1434949556132779e-06, + "update_l2": 0.0006527602672576904 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0759966190553314e-08, + "update_l2": 0.0011501859407871962 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0695190212572925e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0695190212572925e-05, + "observation_loss": 1.0695190212572925e-05, + "chamfer": 7.957643902045675e-06, + "track": 2.737546765274601e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 350, + "adam_update_count": 33600 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02256635199955781 + }, + "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_c997a9b3c24342d4908a316943915570_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 351, + "next_interval": 0, + "next_adam_update": 33601, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 350, + "trained_intervals": 33600, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33600, + "source_timestamp_s": 3.2, + "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": 5.0803704261779785, + "median": 10.383112907409668, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45626750588417053, + "median": 0.45626750588417053, + "max": 0.45626750588417053, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.949009418487549, + "median": 10.321799278259277, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 160.83363342285156, + "median": 32309.37890625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1042.1168212890625, + "median": 30387.8828125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45626750588417053, + "median": 0.45626750588417053, + "max": 0.45626750588417053, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 634, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0351.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0351.json new file mode 100644 index 0000000000000000000000000000000000000000..7e9d7fd0efba3d3dbb40961635b3ba60c3832420 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0351.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_0351", + "executed_epochs": 351, + "score": null, + "best_score": 7.040688776290456e-06, + "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_beec5ec0fa5f4b2f8780233c2f1b6f00.npz", + "optimizer_file": "boundary_beec5ec0fa5f4b2f8780233c2f1b6f00_optimizer.pt", + "arrays_sha256": "df708454715aec60eaa9680e96849da12238bb40ce25e3ab287eeaf8bcff4d6d", + "optimizer_sha256": "8c140ad283afc45b5e71045af65527863f81771d38c5747cc29290e80bc98404", + "stage": "adam", + "completed_passes": 351, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33696, + "adam_update_count": 33696, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 352, + "consumed_count": 351, + "last_submitted_update": 33696, + "last_consumed_update": 33600, + "pending": [ + { + "reference": { + "source_update": 33696, + "completed_passes": 351, + "next_interval": 0, + "trained_intervals": 33696, + "snapshot": "pass_end_0351", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33600, + "pass_science": { + "completed_passes": 351, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33696, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33696, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.718234301506527e-07, + "update_l2": 0.004635829944163561 + }, + "raw_ground_friction": { + "gradient_l2": 1.1477397947601276e-06, + "update_l2": 0.0006504356861114502 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0795587474253807e-08, + "update_l2": 0.0011481104884296656 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0679699698812328e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0679699698812328e-05, + "observation_loss": 1.0679699698812328e-05, + "chamfer": 7.947693120513577e-06, + "track": 2.732007033046102e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 351, + "adam_update_count": 33696 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.023180420001153834 + }, + "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_beec5ec0fa5f4b2f8780233c2f1b6f00_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 352, + "next_interval": 0, + "next_adam_update": 33697, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 351, + "trained_intervals": 33696, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33696, + "source_timestamp_s": 3.2, + "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": 5.076767444610596, + "median": 10.38318157196045, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45662468671798706, + "median": 0.45662468671798706, + "max": 0.45662468671798706, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.946659564971924, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 160.25518798828125, + "median": 32311.59765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1039.6708984375, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45662468671798706, + "median": 0.45662468671798706, + "max": 0.45662468671798706, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 636, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0352.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0352.json new file mode 100644 index 0000000000000000000000000000000000000000..b73508d14286726027c087d2048ba4e6ff701dd3 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0352.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_0352", + "executed_epochs": 352, + "score": null, + "best_score": 7.037875050741604e-06, + "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_fcd87b504d29478c9b6e3fe9ff1d56b7.npz", + "optimizer_file": "boundary_fcd87b504d29478c9b6e3fe9ff1d56b7_optimizer.pt", + "arrays_sha256": "3a3ca339e194b0ba8e42840fc28f57c913270d9cbc77c417ce3a10b36d47af16", + "optimizer_sha256": "e8c26522041af51760f361d3babdf6edb0e8dafa6f75408948609257c1545dc8", + "stage": "adam", + "completed_passes": 352, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33792, + "adam_update_count": 33792, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 353, + "consumed_count": 352, + "last_submitted_update": 33792, + "last_consumed_update": 33696, + "pending": [ + { + "reference": { + "source_update": 33792, + "completed_passes": 352, + "next_interval": 0, + "trained_intervals": 33792, + "snapshot": "pass_end_0352", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33696, + "pass_science": { + "completed_passes": 352, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33792, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33792, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7260394713503047e-07, + "update_l2": 0.004612453281879425 + }, + "raw_ground_friction": { + "gradient_l2": 1.2199299135318142e-06, + "update_l2": 0.0006500780582427979 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.060524728619839e-08, + "update_l2": 0.0011430846061557531 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0662630302249454e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0662630302249454e-05, + "observation_loss": 1.0662630302249454e-05, + "chamfer": 7.9366755016963e-06, + "track": 2.7259545731794788e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 352, + "adam_update_count": 33792 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022699598001054255 + }, + "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_fcd87b504d29478c9b6e3fe9ff1d56b7_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 353, + "next_interval": 0, + "next_adam_update": 33793, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 352, + "trained_intervals": 33792, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33792, + "source_timestamp_s": 3.2, + "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": 5.073116302490234, + "median": 10.383347511291504, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4570395052433014, + "median": 0.4570395052433014, + "max": 0.4570395052433014, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.94433069229126, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 159.671142578125, + "median": 32316.962890625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1037.25244140625, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4570395052433014, + "median": 0.4570395052433014, + "max": 0.4570395052433014, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 637, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0353.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0353.json new file mode 100644 index 0000000000000000000000000000000000000000..9481e7ae0d34cfe00a94f88f68b512b33a0230bb --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0353.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_0353", + "executed_epochs": 353, + "score": null, + "best_score": 7.033975196672297e-06, + "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_205f3aeb39f4457b9ea5340e929b9af1.npz", + "optimizer_file": "boundary_205f3aeb39f4457b9ea5340e929b9af1_optimizer.pt", + "arrays_sha256": "a1ba01137cf7c0a5e354ee44e8a490700615e6044723f538b855b8a35968e64e", + "optimizer_sha256": "27d23e24a3f258f5f4092f51123365bbb685ea8524157d437090793f140cd89d", + "stage": "adam", + "completed_passes": 353, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33888, + "adam_update_count": 33888, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 354, + "consumed_count": 353, + "last_submitted_update": 33888, + "last_consumed_update": 33792, + "pending": [ + { + "reference": { + "source_update": 33888, + "completed_passes": 353, + "next_interval": 0, + "trained_intervals": 33888, + "snapshot": "pass_end_0353", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33792, + "pass_science": { + "completed_passes": 353, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33888, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33888, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7452119038807723e-07, + "update_l2": 0.004626427311450243 + }, + "raw_ground_friction": { + "gradient_l2": 1.2193505654067849e-06, + "update_l2": 0.0006522536277770996 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0795861033207075e-08, + "update_l2": 0.0011499911779537797 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0652546734490898e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0652546734490898e-05, + "observation_loss": 1.0652546734490898e-05, + "chamfer": 7.930287210911047e-06, + "track": 2.7222592962061753e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 353, + "adam_update_count": 33888 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02248027300083777 + }, + "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_205f3aeb39f4457b9ea5340e929b9af1_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 354, + "next_interval": 0, + "next_adam_update": 33889, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 353, + "trained_intervals": 33888, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33888, + "source_timestamp_s": 3.2, + "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": 5.069492340087891, + "median": 10.383602142333984, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45728617906570435, + "median": 0.45728617906570435, + "max": 0.45728617906570435, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.94199800491333, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 159.09353637695312, + "median": 32325.19140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1034.8358154296875, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45728617906570435, + "median": 0.45728617906570435, + "max": 0.45728617906570435, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 638, + "controller_edge_stiffness": 91 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0354.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0354.json new file mode 100644 index 0000000000000000000000000000000000000000..7430ae4e9101d44d9ff1e9362bc08fc35767e6f4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0354.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_0354", + "executed_epochs": 354, + "score": null, + "best_score": 7.028265261036874e-06, + "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_b240b8271b5f4fd6b9e42ba2eb4056b8.npz", + "optimizer_file": "boundary_b240b8271b5f4fd6b9e42ba2eb4056b8_optimizer.pt", + "arrays_sha256": "35590804deccea6fa7bd48207543948c6660aa5327d96875552a6b818f644bf5", + "optimizer_sha256": "f5733ce7bd5f29c56133b730f71fba469453e5e6321804e532575a99962c93ae", + "stage": "adam", + "completed_passes": 354, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 33984, + "adam_update_count": 33984, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 355, + "consumed_count": 354, + "last_submitted_update": 33984, + "last_consumed_update": 33888, + "pending": [ + { + "reference": { + "source_update": 33984, + "completed_passes": 354, + "next_interval": 0, + "trained_intervals": 33984, + "snapshot": "pass_end_0354", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33888, + "pass_science": { + "completed_passes": 354, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 33984, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 33984, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.7682897635040717e-07, + "update_l2": 0.004616410005837679 + }, + "raw_ground_friction": { + "gradient_l2": 1.2616084177352604e-06, + "update_l2": 0.0006541609764099121 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0990166049728032e-08, + "update_l2": 0.0011475977953523397 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0642691449902486e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0642691449902486e-05, + "observation_loss": 1.0642691449902486e-05, + "chamfer": 7.924038982309867e-06, + "track": 2.7186524675926194e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 354, + "adam_update_count": 33984 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022174838000864838 + }, + "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_b240b8271b5f4fd6b9e42ba2eb4056b8_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 355, + "next_interval": 0, + "next_adam_update": 33985, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 354, + "trained_intervals": 33984, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 33984, + "source_timestamp_s": 3.2, + "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": 5.065921306610107, + "median": 10.383756637573242, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4575755000114441, + "median": 0.4575755000114441, + "max": 0.4575755000114441, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.939661502838135, + "median": 10.321800231933594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 158.52642822265625, + "median": 32330.185546875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1032.4207763671875, + "median": 30387.9140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4575755000114441, + "median": 0.4575755000114441, + "max": 0.4575755000114441, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 640, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0355.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0355.json new file mode 100644 index 0000000000000000000000000000000000000000..bde8c2c11ca450084af6ceb4c3b377048f61cf39 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0355.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_0355", + "executed_epochs": 355, + "score": null, + "best_score": 7.0243798996709e-06, + "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_fa8b3cb13bc644e687cf2e773fd492ee.npz", + "optimizer_file": "boundary_fa8b3cb13bc644e687cf2e773fd492ee_optimizer.pt", + "arrays_sha256": "b94643139aa176bbad5e43df223521a87b43d79c15eddc86f451cb9c10f63a02", + "optimizer_sha256": "68465e3f57d3dfb7482fdabf73968bc54dd3d68487e087f3e97741ee04a71314", + "stage": "adam", + "completed_passes": 355, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34080, + "adam_update_count": 34080, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 356, + "consumed_count": 355, + "last_submitted_update": 34080, + "last_consumed_update": 33984, + "pending": [ + { + "reference": { + "source_update": 34080, + "completed_passes": 355, + "next_interval": 0, + "trained_intervals": 34080, + "snapshot": "pass_end_0355", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 33984, + "pass_science": { + "completed_passes": 355, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34080, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34080, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.749975382381308e-07, + "update_l2": 0.004609304014593363 + }, + "raw_ground_friction": { + "gradient_l2": 1.2415367791618337e-06, + "update_l2": 0.0006524026393890381 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1049771703474107e-08, + "update_l2": 0.0011470612371340394 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0632986231939867e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0632986231939867e-05, + "observation_loss": 1.0632986231939867e-05, + "chamfer": 7.918071787571535e-06, + "track": 2.714914671742008e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 355, + "adam_update_count": 34080 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022322769000311382 + }, + "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_fa8b3cb13bc644e687cf2e773fd492ee_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 356, + "next_interval": 0, + "next_adam_update": 34081, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 355, + "trained_intervals": 34080, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34080, + "source_timestamp_s": 3.2, + "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": 5.06243896484375, + "median": 10.383851051330566, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45771685242652893, + "median": 0.45771685242652893, + "max": 0.45771685242652893, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.937306880950928, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 157.975341796875, + "median": 32333.240234375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1029.99267578125, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45771685242652893, + "median": 0.45771685242652893, + "max": 0.45771685242652893, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 643, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0356.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0356.json new file mode 100644 index 0000000000000000000000000000000000000000..d34d1ca900fc34170d2c7ff5f8c4f3d6b7189ab4 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0356.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_0356", + "executed_epochs": 356, + "score": null, + "best_score": 7.021567263620909e-06, + "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_ebd6d63c80ee492ab0d9c5f7f589302b.npz", + "optimizer_file": "boundary_ebd6d63c80ee492ab0d9c5f7f589302b_optimizer.pt", + "arrays_sha256": "dd6a6ac76982c26a60e0d8d4cb2a52786b68fe40cd39225b2b3e2e50a6f6bdaa", + "optimizer_sha256": "cd99125e37b905088346ba38509df954508358201d675c4daadad05e8d9384ee", + "stage": "adam", + "completed_passes": 356, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34176, + "adam_update_count": 34176, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 357, + "consumed_count": 356, + "last_submitted_update": 34176, + "last_consumed_update": 34080, + "pending": [ + { + "reference": { + "source_update": 34176, + "completed_passes": 356, + "next_interval": 0, + "trained_intervals": 34176, + "snapshot": "pass_end_0356", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34080, + "pass_science": { + "completed_passes": 356, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34176, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34176, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.8110847577190725e-07, + "update_l2": 0.004623484797775745 + }, + "raw_ground_friction": { + "gradient_l2": 1.2505813629104523e-06, + "update_l2": 0.0006567239761352539 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.111895369694139e-08, + "update_l2": 0.0011531348573043942 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.062388764694333e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.062388764694333e-05, + "observation_loss": 1.062388764694333e-05, + "chamfer": 7.912406545074191e-06, + "track": 2.7114815566164907e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 356, + "adam_update_count": 34176 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02234299799965811 + }, + "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_ebd6d63c80ee492ab0d9c5f7f589302b_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 357, + "next_interval": 0, + "next_adam_update": 34177, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 356, + "trained_intervals": 34176, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34176, + "source_timestamp_s": 3.2, + "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": 5.058986663818359, + "median": 10.383846282958984, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45783132314682007, + "median": 0.45783132314682007, + "max": 0.45783132314682007, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.934957504272461, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 157.430908203125, + "median": 32333.083984375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1027.5755615234375, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45783132314682007, + "median": 0.45783132314682007, + "max": 0.45783132314682007, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 645, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0357.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0357.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c2ec608c904a6a3403c1864d869d11c249618f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0357.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_0357", + "executed_epochs": 357, + "score": null, + "best_score": 7.018572802053313e-06, + "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_6bf3153433304ab2935baa039fc151bf.npz", + "optimizer_file": "boundary_6bf3153433304ab2935baa039fc151bf_optimizer.pt", + "arrays_sha256": "ca06bcd7fa8e62136eb555e7c0ee1cfd5d72322637730745386b349a7cf11f30", + "optimizer_sha256": "4b7dfc00c6050bf25ebdb3006442b09d7e4afff7020d27f0c6c7aed1599d6b97", + "stage": "adam", + "completed_passes": 357, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34272, + "adam_update_count": 34272, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 358, + "consumed_count": 357, + "last_submitted_update": 34272, + "last_consumed_update": 34176, + "pending": [ + { + "reference": { + "source_update": 34272, + "completed_passes": 357, + "next_interval": 0, + "trained_intervals": 34272, + "snapshot": "pass_end_0357", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34176, + "pass_science": { + "completed_passes": 357, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34272, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34272, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.818764587824262e-07, + "update_l2": 0.004622334148734808 + }, + "raw_ground_friction": { + "gradient_l2": 1.2780784572896664e-06, + "update_l2": 0.0006541013717651367 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.136611243486186e-08, + "update_l2": 0.0011516516096889973 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0611762263579294e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0611762263579294e-05, + "observation_loss": 1.0611762263579294e-05, + "chamfer": 7.904758604126982e-06, + "track": 2.707003204704961e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 357, + "adam_update_count": 34272 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02237180299925967 + }, + "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_6bf3153433304ab2935baa039fc151bf_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 358, + "next_interval": 0, + "next_adam_update": 34273, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 357, + "trained_intervals": 34272, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34272, + "source_timestamp_s": 3.2, + "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": 5.055501937866211, + "median": 10.3838472366333, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4578918516635895, + "median": 0.4578918516635895, + "max": 0.4578918516635895, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.93263053894043, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 156.8832550048828, + "median": 32333.11328125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1025.187255859375, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4578918516635895, + "median": 0.4578918516635895, + "max": 0.4578918516635895, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 646, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0358.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0358.json new file mode 100644 index 0000000000000000000000000000000000000000..3daec6d63ceec54757efa8d36f4c51fe9ed5cd8f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0358.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_0358", + "executed_epochs": 358, + "score": null, + "best_score": 7.016447317672221e-06, + "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_0fb4f8bd9ec4402292b184181f30d864.npz", + "optimizer_file": "boundary_0fb4f8bd9ec4402292b184181f30d864_optimizer.pt", + "arrays_sha256": "ae9a3db21c1511fd7f7e47cb88aacbb3882eca74cd3773e35e329d854664ce7f", + "optimizer_sha256": "3e4f842dd13d472d2b4ecc7acc346bc03346423473398a1b852ceb61ce249c32", + "stage": "adam", + "completed_passes": 358, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34368, + "adam_update_count": 34368, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 359, + "consumed_count": 358, + "last_submitted_update": 34368, + "last_consumed_update": 34272, + "pending": [ + { + "reference": { + "source_update": 34368, + "completed_passes": 358, + "next_interval": 0, + "trained_intervals": 34368, + "snapshot": "pass_end_0358", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34272, + "pass_science": { + "completed_passes": 358, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34368, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34368, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.8643191879164078e-07, + "update_l2": 0.00464594503864646 + }, + "raw_ground_friction": { + "gradient_l2": 1.356646748718049e-06, + "update_l2": 0.0006552338600158691 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1677955430732254e-08, + "update_l2": 0.0011661704629659653 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0605490388115868e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0605490388115868e-05, + "observation_loss": 1.0605490388115868e-05, + "chamfer": 7.9010742410901e-06, + "track": 2.7044161470257677e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 358, + "adam_update_count": 34368 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022468539000328747 + }, + "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_0fb4f8bd9ec4402292b184181f30d864_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 359, + "next_interval": 0, + "next_adam_update": 34369, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 358, + "trained_intervals": 34368, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34368, + "source_timestamp_s": 3.2, + "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": 5.051761627197266, + "median": 10.383999824523926, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4574558734893799, + "median": 0.4574558734893799, + "max": 0.4574558734893799, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.930309772491455, + "median": 10.321789741516113, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 156.2975616455078, + "median": 32338.048828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1022.8107299804688, + "median": 30387.59375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4574558734893799, + "median": 0.4574558734893799, + "max": 0.4574558734893799, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 649, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0359.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0359.json new file mode 100644 index 0000000000000000000000000000000000000000..07d87b5877f9f6a53c53efbe488b6f658bf3ef8e --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0359.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_0359", + "executed_epochs": 359, + "score": null, + "best_score": 7.015390143768248e-06, + "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_a6c5f597e41243e4a6b7ccd8a811afc0.npz", + "optimizer_file": "boundary_a6c5f597e41243e4a6b7ccd8a811afc0_optimizer.pt", + "arrays_sha256": "68efbf3992d4f1c3e07c70b0ba33b587195d0c32c7cc9a46667fa2b60d3f83d3", + "optimizer_sha256": "06d09db559ba488769dd9c2210afa370e0ed8005008a560015789bbde5577585", + "stage": "adam", + "completed_passes": 359, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34464, + "adam_update_count": 34464, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 360, + "consumed_count": 359, + "last_submitted_update": 34464, + "last_consumed_update": 34368, + "pending": [ + { + "reference": { + "source_update": 34464, + "completed_passes": 359, + "next_interval": 0, + "trained_intervals": 34464, + "snapshot": "pass_end_0359", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34368, + "pass_science": { + "completed_passes": 359, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34464, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34464, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.880810174270664e-07, + "update_l2": 0.004650396294891834 + }, + "raw_ground_friction": { + "gradient_l2": 1.3586108025265276e-06, + "update_l2": 0.0006496012210845947 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.201221427355904e-08, + "update_l2": 0.0011655233101919293 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0592455510050058e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0592455510050058e-05, + "observation_loss": 1.0592455510050058e-05, + "chamfer": 7.892721441749018e-06, + "track": 2.6997340683010407e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 359, + "adam_update_count": 34464 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022179821000463562 + }, + "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_a6c5f597e41243e4a6b7ccd8a811afc0_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 360, + "next_interval": 0, + "next_adam_update": 34465, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 359, + "trained_intervals": 34464, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34464, + "source_timestamp_s": 3.2, + "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": 5.048318386077881, + "median": 10.384088516235352, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4581943154335022, + "median": 0.4581943154335022, + "max": 0.4581943154335022, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.928021430969238, + "median": 10.321771621704102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 155.76031494140625, + "median": 32340.916015625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1020.4728393554688, + "median": 30387.044921875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4581943154335022, + "median": 0.4581943154335022, + "max": 0.4581943154335022, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 650, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0360.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0360.json new file mode 100644 index 0000000000000000000000000000000000000000..7e51ee4acde1c2f0016679da5af64b5a82a491aa --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0360.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_0360", + "executed_epochs": 360, + "score": null, + "best_score": 7.009552390968565e-06, + "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_254d33d3d5d343f7a5275c2096821a58.npz", + "optimizer_file": "boundary_254d33d3d5d343f7a5275c2096821a58_optimizer.pt", + "arrays_sha256": "6bc9bdf1e1dad3786bf6b92c1e9a3a5f5740c33fe72e9c6c9950dfd6a4c3eaeb", + "optimizer_sha256": "4b7750fab6c88414220ddfbf29b6de7aec20963a517e834778126354674e6409", + "stage": "adam", + "completed_passes": 360, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34560, + "adam_update_count": 34560, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 361, + "consumed_count": 360, + "last_submitted_update": 34560, + "last_consumed_update": 34464, + "pending": [ + { + "reference": { + "source_update": 34560, + "completed_passes": 360, + "next_interval": 0, + "trained_intervals": 34560, + "snapshot": "pass_end_0360", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34464, + "pass_science": { + "completed_passes": 360, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34560, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34560, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.8721891592576867e-07, + "update_l2": 0.004649005830287933 + }, + "raw_ground_friction": { + "gradient_l2": 1.3258541002869606e-06, + "update_l2": 0.000645756721496582 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.1875276701166513e-08, + "update_l2": 0.001167148700915277 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0588513760012574e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0588513760012574e-05, + "observation_loss": 1.0588513760012574e-05, + "chamfer": 7.890724191383924e-06, + "track": 2.6977893412549747e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 360, + "adam_update_count": 34560 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022369238000464975 + }, + "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_254d33d3d5d343f7a5275c2096821a58_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 361, + "next_interval": 0, + "next_adam_update": 34561, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 360, + "trained_intervals": 34560, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34560, + "source_timestamp_s": 3.2, + "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": 5.045145511627197, + "median": 10.384407043457031, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4581720232963562, + "median": 0.4581720232963562, + "max": 0.4581720232963562, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.925713539123535, + "median": 10.321759223937988, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 155.2668914794922, + "median": 32351.220703125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1018.1204833984375, + "median": 30386.66796875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4581720232963562, + "median": 0.4581720232963562, + "max": 0.4581720232963562, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 650, + "controller_edge_stiffness": 92 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0361.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0361.json new file mode 100644 index 0000000000000000000000000000000000000000..2528862103394993e8f04bb9f5b857aa624ec6a8 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0361.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_0361", + "executed_epochs": 361, + "score": null, + "best_score": 7.009285750333068e-06, + "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_87174131cfc246a9bf109049c6cc5efd.npz", + "optimizer_file": "boundary_87174131cfc246a9bf109049c6cc5efd_optimizer.pt", + "arrays_sha256": "c97c0230bdb416e765690486509e80a29b61bfa979712d27439c3586284182a1", + "optimizer_sha256": "c7f88264013a6531a451085cc88451daa0bb6a5db5385835f83bed663786bca6", + "stage": "adam", + "completed_passes": 361, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34656, + "adam_update_count": 34656, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 362, + "consumed_count": 361, + "last_submitted_update": 34656, + "last_consumed_update": 34560, + "pending": [ + { + "reference": { + "source_update": 34656, + "completed_passes": 361, + "next_interval": 0, + "trained_intervals": 34656, + "snapshot": "pass_end_0361", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34560, + "pass_science": { + "completed_passes": 361, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34656, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34656, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.912325018338379e-07, + "update_l2": 0.004662367980927229 + }, + "raw_ground_friction": { + "gradient_l2": 1.3622651522382512e-06, + "update_l2": 0.0006480515003204346 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0105218823118776e-08, + "update_l2": 0.0011802040971815586 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0580465641396586e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0580465641396586e-05, + "observation_loss": 1.0580465641396586e-05, + "chamfer": 7.885748345870525e-06, + "track": 2.694717295526061e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 361, + "adam_update_count": 34656 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022463838999101426 + }, + "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_87174131cfc246a9bf109049c6cc5efd_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 362, + "next_interval": 0, + "next_adam_update": 34657, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 361, + "trained_intervals": 34656, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34656, + "source_timestamp_s": 3.2, + "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": 5.042052745819092, + "median": 10.384687423706055, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45827266573905945, + "median": 0.45827266573905945, + "max": 0.45827266573905945, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.923408031463623, + "median": 10.321656227111816, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 154.7874298095703, + "median": 32360.29296875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1015.77587890625, + "median": 30383.537109375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45827266573905945, + "median": 0.45827266573905945, + "max": 0.45827266573905945, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 651, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0362.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0362.json new file mode 100644 index 0000000000000000000000000000000000000000..47654238d8e8d26363ab2ec7ff820c5049a13724 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0362.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_0362", + "executed_epochs": 362, + "score": null, + "best_score": 7.009285750333068e-06, + "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_3d4bffbe2a7e415da2122468d6a8cb66.npz", + "optimizer_file": "boundary_3d4bffbe2a7e415da2122468d6a8cb66_optimizer.pt", + "arrays_sha256": "57a3d2c2b7b50231af0953cc9b9eb5726fc34859aeb08492822457c133e39c64", + "optimizer_sha256": "2311ad404d98851aae7160d8c48a655e44fb625b48490c06a4416cd4a9b76578", + "stage": "adam", + "completed_passes": 362, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34752, + "adam_update_count": 34752, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 363, + "consumed_count": 362, + "last_submitted_update": 34752, + "last_consumed_update": 34656, + "pending": [ + { + "reference": { + "source_update": 34752, + "completed_passes": 362, + "next_interval": 0, + "trained_intervals": 34752, + "snapshot": "pass_end_0362", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34560, + "pass_science": { + "completed_passes": 362, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34752, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34752, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.9304123100027937e-07, + "update_l2": 0.004661242477595806 + }, + "raw_ground_friction": { + "gradient_l2": 1.3459218735079048e-06, + "update_l2": 0.0006505846977233887 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9986694965723473e-08, + "update_l2": 0.0011499559041112661 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0567248864390422e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0567248864390422e-05, + "observation_loss": 1.0567248864390422e-05, + "chamfer": 7.877362804720178e-06, + "track": 2.689886287043919e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 362, + "adam_update_count": 34752 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022312078999675578 + }, + "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_3d4bffbe2a7e415da2122468d6a8cb66_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 363, + "next_interval": 0, + "next_adam_update": 34753, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 362, + "trained_intervals": 34752, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34752, + "source_timestamp_s": 3.2, + "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": 5.0390825271606445, + "median": 10.384675979614258, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45851728320121765, + "median": 0.45851728320121765, + "max": 0.45851728320121765, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.921079158782959, + "median": 10.321556091308594, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 154.32835388183594, + "median": 32359.921875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1013.4130859375, + "median": 30380.494140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45851728320121765, + "median": 0.45851728320121765, + "max": 0.45851728320121765, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 651, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0363.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0363.json new file mode 100644 index 0000000000000000000000000000000000000000..63d2b8df5ad9e5dde87e048d91cfc970d0be3e8a --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0363.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_0363", + "executed_epochs": 363, + "score": null, + "best_score": 7.009285750333068e-06, + "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_bb39df1faa814940942137968ac8296a.npz", + "optimizer_file": "boundary_bb39df1faa814940942137968ac8296a_optimizer.pt", + "arrays_sha256": "ec0c048f42a0b276be7f692298e21c9e4fc70a414121042e8b3a308b00d78db0", + "optimizer_sha256": "a95ca23d08b158660e189bd3a5f7e8e8327ac366802bbb09536dc1d3cb6b815c", + "stage": "adam", + "completed_passes": 363, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34848, + "adam_update_count": 34848, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 364, + "consumed_count": 363, + "last_submitted_update": 34848, + "last_consumed_update": 34752, + "pending": [ + { + "reference": { + "source_update": 34848, + "completed_passes": 363, + "next_interval": 0, + "trained_intervals": 34848, + "snapshot": "pass_end_0363", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34560, + "pass_science": { + "completed_passes": 363, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34848, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34848, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.9792514649452642e-07, + "update_l2": 0.004663220606744289 + }, + "raw_ground_friction": { + "gradient_l2": 1.3620567642647075e-06, + "update_l2": 0.0006542205810546875 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0234566022736544e-08, + "update_l2": 0.0011468231678009033 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0549610124144237e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0549610124144237e-05, + "observation_loss": 1.0549610124144237e-05, + "chamfer": 7.866030500736088e-06, + "track": 2.6835793960344745e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 363, + "adam_update_count": 34848 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02232868399914878 + }, + "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_bb39df1faa814940942137968ac8296a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 364, + "next_interval": 0, + "next_adam_update": 34849, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 363, + "trained_intervals": 34848, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34848, + "source_timestamp_s": 3.2, + "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": 5.036139965057373, + "median": 10.385002136230469, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45879992842674255, + "median": 0.45879992842674255, + "max": 0.45879992842674255, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.918731689453125, + "median": 10.321532249450684, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 153.87490844726562, + "median": 32370.4765625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1011.036865234375, + "median": 30379.771484375, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45879992842674255, + "median": 0.45879992842674255, + "max": 0.45879992842674255, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 651, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0364.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0364.json new file mode 100644 index 0000000000000000000000000000000000000000..ac20a9d1abcd7c20035d96cd281e0fb296bf32e1 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0364.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_0364", + "executed_epochs": 364, + "score": null, + "best_score": 7.009186885416814e-06, + "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_71bae87f1162403ba744ab5029b9fc92.npz", + "optimizer_file": "boundary_71bae87f1162403ba744ab5029b9fc92_optimizer.pt", + "arrays_sha256": "f83c9acd7f4fab06c50d10ed582e9e79ff66c41b2a0ba8967ec709d5b3eff512", + "optimizer_sha256": "ae411ad8a8c77635f64a8545e7b055cfc07cf879b2143028546ef2115c7b711a", + "stage": "adam", + "completed_passes": 364, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 34944, + "adam_update_count": 34944, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 365, + "consumed_count": 364, + "last_submitted_update": 34944, + "last_consumed_update": 34848, + "pending": [ + { + "reference": { + "source_update": 34944, + "completed_passes": 364, + "next_interval": 0, + "trained_intervals": 34944, + "snapshot": "pass_end_0364", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34848, + "pass_science": { + "completed_passes": 364, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 34944, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 34944, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.9465393563677935e-07, + "update_l2": 0.004655100405216217 + }, + "raw_ground_friction": { + "gradient_l2": 1.3654961321662995e-06, + "update_l2": 0.000659555196762085 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0091567520807985e-08, + "update_l2": 0.0011403291719034314 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0532270607654937e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0532270607654937e-05, + "observation_loss": 1.0532270607654937e-05, + "chamfer": 7.854927389416844e-06, + "track": 2.677343218238093e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 364, + "adam_update_count": 34944 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022384605001207092 + }, + "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_71bae87f1162403ba744ab5029b9fc92_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 365, + "next_interval": 0, + "next_adam_update": 34945, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 364, + "trained_intervals": 34944, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 34944, + "source_timestamp_s": 3.2, + "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": 5.033170223236084, + "median": 10.38510799407959, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.459025502204895, + "median": 0.459025502204895, + "max": 0.459025502204895, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.916390419006348, + "median": 10.321527481079102, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 153.41860961914062, + "median": 32373.904296875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1008.6725463867188, + "median": 30379.626953125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.459025502204895, + "median": 0.459025502204895, + "max": 0.459025502204895, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 652, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0365.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0365.json new file mode 100644 index 0000000000000000000000000000000000000000..1b66a593611d70d58d4abcc49257c17b37685c17 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0365.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_0365", + "executed_epochs": 365, + "score": null, + "best_score": 6.995146433060502e-06, + "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_8a1b592520284fa29e9551668edbc778.npz", + "optimizer_file": "boundary_8a1b592520284fa29e9551668edbc778_optimizer.pt", + "arrays_sha256": "3736be13704056f3ff8f79932c258261ab291547ac76170860b2a17d5c482295", + "optimizer_sha256": "81bcc76aedd38ee39148e50c4f193348d5c32a4347362106639100b7a827ebaa", + "stage": "adam", + "completed_passes": 365, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35040, + "adam_update_count": 35040, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 366, + "consumed_count": 365, + "last_submitted_update": 35040, + "last_consumed_update": 34944, + "pending": [ + { + "reference": { + "source_update": 35040, + "completed_passes": 365, + "next_interval": 0, + "trained_intervals": 35040, + "snapshot": "pass_end_0365", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 34944, + "pass_science": { + "completed_passes": 365, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35040, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35040, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 1.985333994980465e-07, + "update_l2": 0.004620501771569252 + }, + "raw_ground_friction": { + "gradient_l2": 1.3861924799130065e-06, + "update_l2": 0.0006625354290008545 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 2.0026169167408625e-08, + "update_l2": 0.0011286470107734203 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0509024832572322e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0509024832572322e-05, + "observation_loss": 1.0509024832572322e-05, + "chamfer": 7.839904355932958e-06, + "track": 2.669120476639364e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 365, + "adam_update_count": 35040 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022416392999730306 + }, + "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_8a1b592520284fa29e9551668edbc778_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 366, + "next_interval": 0, + "next_adam_update": 35041, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 365, + "trained_intervals": 35040, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35040, + "source_timestamp_s": 3.2, + "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": 5.030097961425781, + "median": 10.385149955749512, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4593737721443176, + "median": 0.4593737721443176, + "max": 0.4593737721443176, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.914036750793457, + "median": 10.321524620056152, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 152.947998046875, + "median": 32375.263671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1006.3012084960938, + "median": 30379.5390625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4593737721443176, + "median": 0.4593737721443176, + "max": 0.4593737721443176, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 655, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0366.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0366.json new file mode 100644 index 0000000000000000000000000000000000000000..867dbf81c94b0d376d7a7a126f2b307b89ef23fe --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0366.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_0366", + "executed_epochs": 366, + "score": null, + "best_score": 6.988916046187417e-06, + "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_4fc8b2f44e4848d08887282ab356c75f.npz", + "optimizer_file": "boundary_4fc8b2f44e4848d08887282ab356c75f_optimizer.pt", + "arrays_sha256": "4926b64e1fbb5e625740a0d8d355277164d61eca1bd64af096762603c5c21d1a", + "optimizer_sha256": "b7e1870a16e42410556d69cabc2e3f570e269163e8bbcacd22b55c50f760a126", + "stage": "adam", + "completed_passes": 366, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35136, + "adam_update_count": 35136, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 367, + "consumed_count": 366, + "last_submitted_update": 35136, + "last_consumed_update": 35040, + "pending": [ + { + "reference": { + "source_update": 35136, + "completed_passes": 366, + "next_interval": 0, + "trained_intervals": 35136, + "snapshot": "pass_end_0366", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35040, + "pass_science": { + "completed_passes": 366, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35136, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35136, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.0225844821197825e-07, + "update_l2": 0.004591845907270908 + }, + "raw_ground_friction": { + "gradient_l2": 1.4252979099182994e-06, + "update_l2": 0.0006636679172515869 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9921031935155042e-08, + "update_l2": 0.0011273060226812959 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0494522939552553e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0494522939552553e-05, + "observation_loss": 1.0494522939552553e-05, + "chamfer": 7.830585673218593e-06, + "track": 2.663937721081311e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 366, + "adam_update_count": 35136 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022188708000612678 + }, + "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_4fc8b2f44e4848d08887282ab356c75f_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 367, + "next_interval": 0, + "next_adam_update": 35137, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 366, + "trained_intervals": 35136, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35136, + "source_timestamp_s": 3.2, + "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": 5.02701997756958, + "median": 10.385122299194336, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45953041315078735, + "median": 0.45953041315078735, + "max": 0.45953041315078735, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.911673069000244, + "median": 10.321520805358887, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 152.4779510498047, + "median": 32374.3671875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1003.9254150390625, + "median": 30379.421875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45953041315078735, + "median": 0.45953041315078735, + "max": 0.45953041315078735, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 655, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0367.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0367.json new file mode 100644 index 0000000000000000000000000000000000000000..cc86c5d972995666f8bf0690e800e0527ed6bf4f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0367.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_0367", + "executed_epochs": 367, + "score": null, + "best_score": 6.983799271627807e-06, + "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_19e6190a122b492f8076d6df79b7a2d4.npz", + "optimizer_file": "boundary_19e6190a122b492f8076d6df79b7a2d4_optimizer.pt", + "arrays_sha256": "8a5e46302b6a0b15d599347845774d97e7973c16b9a8adb3f3bd5d0401e4cea3", + "optimizer_sha256": "1f39fadc6f27d7137d0628d769d327ba18d8f6005c696898202876d8e4a62511", + "stage": "adam", + "completed_passes": 367, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35232, + "adam_update_count": 35232, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 368, + "consumed_count": 367, + "last_submitted_update": 35232, + "last_consumed_update": 35136, + "pending": [ + { + "reference": { + "source_update": 35232, + "completed_passes": 367, + "next_interval": 0, + "trained_intervals": 35232, + "snapshot": "pass_end_0367", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35136, + "pass_science": { + "completed_passes": 367, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35232, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35232, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.0344127449334337e-07, + "update_l2": 0.00459292670711875 + }, + "raw_ground_friction": { + "gradient_l2": 1.426512199032004e-06, + "update_l2": 0.0006643235683441162 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.976039420981124e-08, + "update_l2": 0.0011292645940557122 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.047852674673777e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.047852674673777e-05, + "observation_loss": 1.047852674673777e-05, + "chamfer": 7.820369319233578e-06, + "track": 2.6581572001305176e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 367, + "adam_update_count": 35232 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02327127199896495 + }, + "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_19e6190a122b492f8076d6df79b7a2d4_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 368, + "next_interval": 0, + "next_adam_update": 35233, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 367, + "trained_intervals": 35232, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35232, + "source_timestamp_s": 3.2, + "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": 5.023967742919922, + "median": 10.385109901428223, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45958930253982544, + "median": 0.45958930253982544, + "max": 0.45958930253982544, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.909344673156738, + "median": 10.321516990661621, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 152.0132598876953, + "median": 32373.96484375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 1001.5906982421875, + "median": 30379.306640625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45958930253982544, + "median": 0.45958930253982544, + "max": 0.45958930253982544, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 658, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0368.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0368.json new file mode 100644 index 0000000000000000000000000000000000000000..c473d5227e35a0f11176bfe44c56617e364d8219 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0368.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_0368", + "executed_epochs": 368, + "score": null, + "best_score": 6.978377650549798e-06, + "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_9c3c782be64e4d388361425b391986a4.npz", + "optimizer_file": "boundary_9c3c782be64e4d388361425b391986a4_optimizer.pt", + "arrays_sha256": "1799a5549fff94102843e8a1c0edbd050f97fd0d9976f57d832c8a963a624c72", + "optimizer_sha256": "883bcacf1463fda668b7dbc567905823f400e5cc6e1cc93a44410b4472518c1c", + "stage": "adam", + "completed_passes": 368, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35328, + "adam_update_count": 35328, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 369, + "consumed_count": 368, + "last_submitted_update": 35328, + "last_consumed_update": 35232, + "pending": [ + { + "reference": { + "source_update": 35328, + "completed_passes": 368, + "next_interval": 0, + "trained_intervals": 35328, + "snapshot": "pass_end_0368", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35232, + "pass_science": { + "completed_passes": 368, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35328, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35328, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.0710521653199976e-07, + "update_l2": 0.004598745610564947 + }, + "raw_ground_friction": { + "gradient_l2": 1.4615712871091091e-06, + "update_l2": 0.0006711184978485107 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9545709051271842e-08, + "update_l2": 0.0011324483202770352 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0469103472132701e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0469103472132701e-05, + "observation_loss": 1.0469103472132701e-05, + "chamfer": 7.814382115611807e-06, + "track": 2.6547211291472195e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 368, + "adam_update_count": 35328 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02307146500061208 + }, + "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_9c3c782be64e4d388361425b391986a4_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 369, + "next_interval": 0, + "next_adam_update": 35329, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 368, + "trained_intervals": 35328, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35328, + "source_timestamp_s": 3.2, + "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": 5.0209879875183105, + "median": 10.385248184204102, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4594990015029907, + "median": 0.4594990015029907, + "max": 0.4594990015029907, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.907049655914307, + "median": 10.321513175964355, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 151.56097412109375, + "median": 32378.443359375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 999.2946166992188, + "median": 30379.19140625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4594990015029907, + "median": 0.4594990015029907, + "max": 0.4594990015029907, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 662, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0369.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0369.json new file mode 100644 index 0000000000000000000000000000000000000000..e5933d6680773bc5ee6cd857708b68b807b627cb --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0369.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_0369", + "executed_epochs": 369, + "score": null, + "best_score": 6.977864934754052e-06, + "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_f2ae55557afc4ca18ef3f00ece63a1fa.npz", + "optimizer_file": "boundary_f2ae55557afc4ca18ef3f00ece63a1fa_optimizer.pt", + "arrays_sha256": "a98b516273056634bf28790c03c49884264ecbc3cac78189d9c94dbe8225485d", + "optimizer_sha256": "9e56992b3ec0bd29cb1f80235dfb0dc496120b849438704c5b94405d8062fe18", + "stage": "adam", + "completed_passes": 369, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35424, + "adam_update_count": 35424, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 370, + "consumed_count": 369, + "last_submitted_update": 35424, + "last_consumed_update": 35328, + "pending": [ + { + "reference": { + "source_update": 35424, + "completed_passes": 369, + "next_interval": 0, + "trained_intervals": 35424, + "snapshot": "pass_end_0369", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35328, + "pass_science": { + "completed_passes": 369, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35424, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35424, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.1697805152598448e-07, + "update_l2": 0.004613940604031086 + }, + "raw_ground_friction": { + "gradient_l2": 1.5273074041033396e-06, + "update_l2": 0.0006757974624633789 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9702879328065137e-08, + "update_l2": 0.0011354699963703752 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0463183571118861e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0463183571118861e-05, + "observation_loss": 1.0463183571118861e-05, + "chamfer": 7.810879651515279e-06, + "track": 2.6523039196035825e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 369, + "adam_update_count": 35424 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02260405999913928 + }, + "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_f2ae55557afc4ca18ef3f00ece63a1fa_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 370, + "next_interval": 0, + "next_adam_update": 35425, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 369, + "trained_intervals": 35424, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35424, + "source_timestamp_s": 3.2, + "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": 5.018032073974609, + "median": 10.385356903076172, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45915651321411133, + "median": 0.45915651321411133, + "max": 0.45915651321411133, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.904790878295898, + "median": 10.321502685546875, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 151.11363220214844, + "median": 32381.96484375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 997.0399780273438, + "median": 30378.873046875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45915651321411133, + "median": 0.45915651321411133, + "max": 0.45915651321411133, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 664, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0370.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0370.json new file mode 100644 index 0000000000000000000000000000000000000000..9c56f4c189a2ace5b7fd65ac59f1b864cd7a0010 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0370.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_0370", + "executed_epochs": 370, + "score": null, + "best_score": 6.977468622437755e-06, + "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_0d37d10340574f1cb7a9d50494654065.npz", + "optimizer_file": "boundary_0d37d10340574f1cb7a9d50494654065_optimizer.pt", + "arrays_sha256": "c874988e46c0a7bf442cefa7d9241b45269def59f54fb0b3905d74648a620077", + "optimizer_sha256": "90d08a596b082cc6c1aad0b43cadcbe6bfb9af15b6b444f5db451de4eea93aec", + "stage": "adam", + "completed_passes": 370, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35520, + "adam_update_count": 35520, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 371, + "consumed_count": 370, + "last_submitted_update": 35520, + "last_consumed_update": 35424, + "pending": [ + { + "reference": { + "source_update": 35520, + "completed_passes": 370, + "next_interval": 0, + "trained_intervals": 35520, + "snapshot": "pass_end_0370", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35424, + "pass_science": { + "completed_passes": 370, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35520, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35520, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.2086051387759653e-07, + "update_l2": 0.004636120982468128 + }, + "raw_ground_friction": { + "gradient_l2": 1.5573507425870048e-06, + "update_l2": 0.0006818473339080811 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9461610989424116e-08, + "update_l2": 0.0011377829359844327 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0456602467456833e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0456602467456833e-05, + "observation_loss": 1.0456602467456833e-05, + "chamfer": 7.80675600253744e-06, + "track": 2.649846919666743e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 370, + "adam_update_count": 35520 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022438464999140706 + }, + "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_0d37d10340574f1cb7a9d50494654065_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 371, + "next_interval": 0, + "next_adam_update": 35521, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 370, + "trained_intervals": 35520, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35520, + "source_timestamp_s": 3.2, + "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": 5.0151190757751465, + "median": 10.38535213470459, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45899128913879395, + "median": 0.45899128913879395, + "max": 0.45899128913879395, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.902556896209717, + "median": 10.321418762207031, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 150.674072265625, + "median": 32381.810546875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 994.8151245117188, + "median": 30376.322265625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45899128913879395, + "median": 0.45899128913879395, + "max": 0.45899128913879395, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 664, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0371.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0371.json new file mode 100644 index 0000000000000000000000000000000000000000..94546a706b913cc8e84e23f913534857ca2e6c19 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0371.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_0371", + "executed_epochs": 371, + "score": null, + "best_score": 6.977468622437755e-06, + "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_dfa57ed0048a4770afbbd7ae394b6469.npz", + "optimizer_file": "boundary_dfa57ed0048a4770afbbd7ae394b6469_optimizer.pt", + "arrays_sha256": "7e7d4c4884424cdf61fc422ad41b3649a6dcca4427ffe34e3e1bd0f605faff39", + "optimizer_sha256": "44cdaa99c99168d7a0e8a5cdaf1c20d426ee8acc34d52e3b66723ed2b19ab418", + "stage": "adam", + "completed_passes": 371, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35616, + "adam_update_count": 35616, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 372, + "consumed_count": 371, + "last_submitted_update": 35616, + "last_consumed_update": 35520, + "pending": [ + { + "reference": { + "source_update": 35616, + "completed_passes": 371, + "next_interval": 0, + "trained_intervals": 35616, + "snapshot": "pass_end_0371", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35424, + "pass_science": { + "completed_passes": 371, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35616, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35616, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.233298630471836e-07, + "update_l2": 0.004628617782145739 + }, + "raw_ground_friction": { + "gradient_l2": 1.5793021930221585e-06, + "update_l2": 0.0006833672523498535 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.9005605977895357e-08, + "update_l2": 0.0011315246811136603 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0439575817144942e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0439575817144942e-05, + "observation_loss": 1.0439575817144942e-05, + "chamfer": 7.795814781275112e-06, + "track": 2.643760808496154e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 371, + "adam_update_count": 35616 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022312895000140998 + }, + "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_dfa57ed0048a4770afbbd7ae394b6469_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 372, + "next_interval": 0, + "next_adam_update": 35617, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 371, + "trained_intervals": 35616, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35616, + "source_timestamp_s": 3.2, + "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": 5.012165069580078, + "median": 10.385457038879395, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4590713679790497, + "median": 0.4590713679790497, + "max": 0.4590713679790497, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.900336742401123, + "median": 10.321403503417969, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 150.22962951660156, + "median": 32385.208984375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 992.6089477539062, + "median": 30375.861328125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4590713679790497, + "median": 0.4590713679790497, + "max": 0.4590713679790497, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 664, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0372.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0372.json new file mode 100644 index 0000000000000000000000000000000000000000..423854eadda77b04484afc7b340f54ffee01b6d9 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0372.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_0372", + "executed_epochs": 372, + "score": null, + "best_score": 6.976278359142422e-06, + "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_1ca58c8628cd45d1ae39d9effae63231.npz", + "optimizer_file": "boundary_1ca58c8628cd45d1ae39d9effae63231_optimizer.pt", + "arrays_sha256": "6f45f0bad79e706330340594895366d4f2e4e113ae2de050e4592010212edf44", + "optimizer_sha256": "1d6b49332d2fd8a2e7cff458634ede4410f79193c793798e750774fced3d0fdc", + "stage": "adam", + "completed_passes": 372, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35712, + "adam_update_count": 35712, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 373, + "consumed_count": 372, + "last_submitted_update": 35712, + "last_consumed_update": 35616, + "pending": [ + { + "reference": { + "source_update": 35712, + "completed_passes": 372, + "next_interval": 0, + "trained_intervals": 35712, + "snapshot": "pass_end_0372", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35616, + "pass_science": { + "completed_passes": 372, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35712, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35712, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.3233990020798956e-07, + "update_l2": 0.004603339359164238 + }, + "raw_ground_friction": { + "gradient_l2": 1.6301445384669933e-06, + "update_l2": 0.000682532787322998 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.8797214451637956e-08, + "update_l2": 0.0011215517297387123 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.04231903605978e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.04231903605978e-05, + "observation_loss": 1.04231903605978e-05, + "chamfer": 7.785238267388195e-06, + "track": 2.637952320583281e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 372, + "adam_update_count": 35712 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022639417000391404 + }, + "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_1ca58c8628cd45d1ae39d9effae63231_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 373, + "next_interval": 0, + "next_adam_update": 35713, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 372, + "trained_intervals": 35712, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35712, + "source_timestamp_s": 3.2, + "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": 5.009176731109619, + "median": 10.385560035705566, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4590843617916107, + "median": 0.4590843617916107, + "max": 0.4590843617916107, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.898120880126953, + "median": 10.321366310119629, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 149.7813720703125, + "median": 32388.54296875, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 990.411865234375, + "median": 30374.732421875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4590843617916107, + "median": 0.4590843617916107, + "max": 0.4590843617916107, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 664, + "controller_edge_stiffness": 93 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0373.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0373.json new file mode 100644 index 0000000000000000000000000000000000000000..cc188512281e4d1ea7aa7ebc997792d0a299e473 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0373.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_0373", + "executed_epochs": 373, + "score": null, + "best_score": 6.9736016570232096e-06, + "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_566442ccd006421c84d5c0857b5cabf4.npz", + "optimizer_file": "boundary_566442ccd006421c84d5c0857b5cabf4_optimizer.pt", + "arrays_sha256": "f42ec2031c485022f619f8cdfb380a19768096f2248c97cd175b5dfde62d3cc5", + "optimizer_sha256": "d26c11cb22097515b956ed7c99e536523e556d66ac1807bc6e9a9fef6ba4a841", + "stage": "adam", + "completed_passes": 373, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35808, + "adam_update_count": 35808, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 374, + "consumed_count": 373, + "last_submitted_update": 35808, + "last_consumed_update": 35712, + "pending": [ + { + "reference": { + "source_update": 35808, + "completed_passes": 373, + "next_interval": 0, + "trained_intervals": 35808, + "snapshot": "pass_end_0373", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35712, + "pass_science": { + "completed_passes": 373, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35808, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35808, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.394575346897909e-07, + "update_l2": 0.004594957921653986 + }, + "raw_ground_friction": { + "gradient_l2": 1.7016434412653325e-06, + "update_l2": 0.0006849765777587891 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.880315636526575e-08, + "update_l2": 0.0011195257538929582 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0412421033834107e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0412421033834107e-05, + "observation_loss": 1.0412421033834107e-05, + "chamfer": 7.77812056185212e-06, + "track": 2.634300699355663e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 373, + "adam_update_count": 35808 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022489564000352402 + }, + "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_566442ccd006421c84d5c0857b5cabf4_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 374, + "next_interval": 0, + "next_adam_update": 35809, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 373, + "trained_intervals": 35808, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35808, + "source_timestamp_s": 3.2, + "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": 5.006106376647949, + "median": 10.38560962677002, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4589711129665375, + "median": 0.4589711129665375, + "max": 0.4589711129665375, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.8959245681762695, + "median": 10.321341514587402, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 149.32220458984375, + "median": 32390.1484375, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 988.239013671875, + "median": 30373.9765625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4589711129665375, + "median": 0.4589711129665375, + "max": 0.4589711129665375, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 666, + "controller_edge_stiffness": 94 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0374.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0374.json new file mode 100644 index 0000000000000000000000000000000000000000..5a03dc57b92ae7aa0cea6d5b2322cc1a11dee86d --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0374.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_0374", + "executed_epochs": 374, + "score": null, + "best_score": 6.971030408919887e-06, + "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_b3d6d47379e14a83a1712227af12e9aa.npz", + "optimizer_file": "boundary_b3d6d47379e14a83a1712227af12e9aa_optimizer.pt", + "arrays_sha256": "d8c48c9d8cbed4dca4adcfb0d23bdc3437db94f7474683b2a17eb3df24ae1c26", + "optimizer_sha256": "11f8a9c6c81c5530a635297002c766e679739a1decb60f48364f6fc30581da43", + "stage": "adam", + "completed_passes": 374, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 35904, + "adam_update_count": 35904, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 375, + "consumed_count": 374, + "last_submitted_update": 35904, + "last_consumed_update": 35808, + "pending": [ + { + "reference": { + "source_update": 35904, + "completed_passes": 374, + "next_interval": 0, + "trained_intervals": 35904, + "snapshot": "pass_end_0374", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35808, + "pass_science": { + "completed_passes": 374, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 35904, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 35904, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.4738832848925085e-07, + "update_l2": 0.004564620554447174 + }, + "raw_ground_friction": { + "gradient_l2": 1.7605459561309544e-06, + "update_l2": 0.0006819665431976318 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.8383646605002468e-08, + "update_l2": 0.0011122237192466855 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0388832379248925e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0388832379248925e-05, + "observation_loss": 1.0388832379248925e-05, + "chamfer": 7.762562745483592e-06, + "track": 2.626269406391657e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 374, + "adam_update_count": 35904 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02232136999919021 + }, + "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_b3d6d47379e14a83a1712227af12e9aa_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 375, + "next_interval": 0, + "next_adam_update": 35905, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 374, + "trained_intervals": 35904, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 35904, + "source_timestamp_s": 3.2, + "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": 5.002979278564453, + "median": 10.38587474822998, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45915186405181885, + "median": 0.45915186405181885, + "max": 0.45915186405181885, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.89374303817749, + "median": 10.321218490600586, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 148.85597229003906, + "median": 32398.73828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 986.08544921875, + "median": 30370.2421875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45915186405181885, + "median": 0.45915186405181885, + "max": 0.45915186405181885, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 669, + "controller_edge_stiffness": 94 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0375.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0375.json new file mode 100644 index 0000000000000000000000000000000000000000..71c7c70d9c5ab4c19db57d21b9f5d3901423b64f --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0375.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_0375", + "executed_epochs": 375, + "score": null, + "best_score": 6.969626577794467e-06, + "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_51ae4a75a9764d77a3b8ed26e64eb392.npz", + "optimizer_file": "boundary_51ae4a75a9764d77a3b8ed26e64eb392_optimizer.pt", + "arrays_sha256": "9da6d44301561f0a695dad52906fde16574926136d73b3ca9f07189d5fb81598", + "optimizer_sha256": "73194b7a6399f1996e87c92e032ad1250a5e06fd28c145c7d3b6f4bb3bfa86bd", + "stage": "adam", + "completed_passes": 375, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 36000, + "adam_update_count": 36000, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 376, + "consumed_count": 375, + "last_submitted_update": 36000, + "last_consumed_update": 35904, + "pending": [ + { + "reference": { + "source_update": 36000, + "completed_passes": 375, + "next_interval": 0, + "trained_intervals": 36000, + "snapshot": "pass_end_0375", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35904, + "pass_science": { + "completed_passes": 375, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 36000, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 36000, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.552102102981735e-07, + "update_l2": 0.004583548754453659 + }, + "raw_ground_friction": { + "gradient_l2": 1.8318679622097989e-06, + "update_l2": 0.0006836652755737305 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.81271779808867e-08, + "update_l2": 0.0011108852922916412 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0370970812800806e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0370970812800806e-05, + "observation_loss": 1.0370970812800806e-05, + "chamfer": 7.751002158329356e-06, + "track": 2.619968427097774e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 375, + "adam_update_count": 36000 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022338226001011208 + }, + "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_51ae4a75a9764d77a3b8ed26e64eb392_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 376, + "next_interval": 0, + "next_adam_update": 36001, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 375, + "trained_intervals": 36000, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 36000, + "source_timestamp_s": 3.2, + "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": 4.999760150909424, + "median": 10.386155128479004, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45914891362190247, + "median": 0.45914891362190247, + "max": 0.45914891362190247, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.891571521759033, + "median": 10.321202278137207, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 148.37757873535156, + "median": 32407.822265625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 983.9464721679688, + "median": 30369.748046875, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45914891362190247, + "median": 0.45914891362190247, + "max": 0.45914891362190247, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 671, + "controller_edge_stiffness": 94 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0376.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0376.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0f3f6934a3b578c2a9b98237cca8c7e018c38c --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0376.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_0376", + "executed_epochs": 376, + "score": null, + "best_score": 6.969626577794467e-06, + "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_6a10257c7545488d986a27ad20834b59.npz", + "optimizer_file": "boundary_6a10257c7545488d986a27ad20834b59_optimizer.pt", + "arrays_sha256": "4ceca8cb42890b0be45a215bd55b9985a82917b24a69ebcb0c16b02d6780d927", + "optimizer_sha256": "abc91e892342920403ea28b65da1b10aa2d94e0a20935386d413130019df8cfd", + "stage": "adam", + "completed_passes": 376, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 36096, + "adam_update_count": 36096, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 377, + "consumed_count": 376, + "last_submitted_update": 36096, + "last_consumed_update": 36000, + "pending": [ + { + "reference": { + "source_update": 36096, + "completed_passes": 376, + "next_interval": 0, + "trained_intervals": 36096, + "snapshot": "pass_end_0376", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 35904, + "pass_science": { + "completed_passes": 376, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 36096, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 36096, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.77897413525352e-07, + "update_l2": 0.004575439728796482 + }, + "raw_ground_friction": { + "gradient_l2": 1.957132326424471e-06, + "update_l2": 0.0006883144378662109 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.624745493700175e-08, + "update_l2": 0.0010529635474085808 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.035284913086798e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.035284913086798e-05, + "observation_loss": 1.035284913086798e-05, + "chamfer": 7.73911324358778e-06, + "track": 2.6137358872801997e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 376, + "adam_update_count": 36096 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.022408914999687113 + }, + "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_6a10257c7545488d986a27ad20834b59_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 377, + "next_interval": 0, + "next_adam_update": 36097, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 376, + "trained_intervals": 36096, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 36096, + "source_timestamp_s": 3.2, + "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": 4.99658203125, + "median": 10.386308670043945, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.4591127932071686, + "median": 0.4591127932071686, + "max": 0.4591127932071686, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.889430999755859, + "median": 10.321187019348145, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 147.90675354003906, + "median": 32412.798828125, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 981.8425903320312, + "median": 30369.28515625, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.4591127932071686, + "median": 0.4591127932071686, + "max": 0.4591127932071686, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 673, + "controller_edge_stiffness": 95 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +} diff --git a/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0377.json b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0377.json new file mode 100644 index 0000000000000000000000000000000000000000..ba92ebe672358e68ee64175a7ce61654cd23f140 --- /dev/null +++ b/processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0377.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_0377", + "executed_epochs": 377, + "score": null, + "best_score": 6.968912060756338e-06, + "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_570f3d65a6854c04b4b1baf9c67ba84a.npz", + "optimizer_file": "boundary_570f3d65a6854c04b4b1baf9c67ba84a_optimizer.pt", + "arrays_sha256": "1e324c123bf39e41e271cd3ddaf271b449c07ffe1770ca32524595ebad1b09f3", + "optimizer_sha256": "08a602b2ca5aadf9b84f7da2183202f2f5e1d58d55f3756857691de2cb2f06e0", + "stage": "adam", + "completed_passes": 377, + "score_status": "unscored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 36192, + "adam_update_count": 36192, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 378, + "consumed_count": 377, + "last_submitted_update": 36192, + "last_consumed_update": 36096, + "pending": [ + { + "reference": { + "source_update": 36192, + "completed_passes": 377, + "next_interval": 0, + "trained_intervals": 36192, + "snapshot": "pass_end_0377", + "candidate": true + }, + "status": "registered" + } + ] + }, + "best_source_update": 36096, + "pass_science": { + "completed_passes": 377, + "adam_schedule": "source_transition_v1", + "next_interval": 0, + "trained_intervals": 36192, + "adam_transition_batch_size": 1, + "optimizer_updates": 1, + "cumulative_optimizer_updates": 36192, + "updates": [ + { + "batch_transition_count": 1, + "batch_weight_sum": 0.010416666666666666, + "lr": 0.001, + "leaf_metrics": { + "log_object_edge_stiffness": { + "gradient_l2": 2.8473559154917893e-07, + "update_l2": 0.004555013496428728 + }, + "raw_ground_friction": { + "gradient_l2": 1.985566314033349e-06, + "update_l2": 0.0006865859031677246 + }, + "raw_ground_restitution": { + "gradient_l2": 0.0, + "update_l2": 0.0 + }, + "log_controller_edge_stiffness": { + "gradient_l2": 1.6141589398444012e-08, + "update_l2": 0.0010395864956080914 + } + }, + "training_path_transitions": [ + { + "episode_id": "deform360_001-rope_episode_0_aligned_92_188", + "transition_index": 95, + "loss": 1.0331342309655156e-05, + "weight": 0.010416666666666666 + } + ], + "loss_role": "pre_update_training_path_not_checkpoint_score", + "observation_transition": { + "transition_index": 95, + "loss": 1.0331342309655156e-05, + "observation_loss": 1.0331342309655156e-05, + "chamfer": 7.724809620412998e-06, + "track": 2.6065324618684826e-06, + "acceleration": 0.0, + "visible_count": 1386, + "motion_valid_count": 1386, + "n_nodes": 1386, + "state_finite": true, + "frame_indices": [ + 187, + 188 + ], + "times_s": [ + 3.1666666666666665, + 3.2 + ], + "finite": true, + "frozen_visible_denominator": 1386, + "frozen_motion_denominator": 1386 + }, + "completed_passes": 377, + "adam_update_count": 36192 + } + ], + "training_path_role": "pre-update transition losses; never checkpoint selection", + "wall_time_s": 0.02265072299996973 + }, + "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_570f3d65a6854c04b4b1baf9c67ba84a_rng.pt", + "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044", + "resume_boundary": "detached_observation_interval", + "next_pass": 378, + "next_interval": 0, + "next_adam_update": 36193, + "schedule_id": "source_transition_v1", + "adam_schedule": "source_transition_v1", + "source_cursor": { + "next_interval": 0, + "completed_passes": 377, + "trained_intervals": 36192, + "source_timestamp_s": 3.2, + "next_source_timestamp_s": 0.0, + "update_budget": 48000 + }, + "trained_intervals": 36192, + "source_timestamp_s": 3.2, + "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": 4.993423938751221, + "median": 10.38637638092041, + "max": 11.520476341247559, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "raw_ground_friction": { + "min": 0.45930132269859314, + "median": 0.45930132269859314, + "max": 0.45930132269859314, + "finite_count": 1, + "nonfinite_count": 0 + }, + "raw_ground_restitution": { + "min": -0.013315116986632347, + "median": -0.013315116986632347, + "max": -0.013315116986632347, + "finite_count": 1, + "nonfinite_count": 0 + }, + "log_controller_edge_stiffness": { + "min": 6.887316703796387, + "median": 10.32114315032959, + "max": 11.522106170654297, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_object_edge_stiffness": { + "min": 147.4403839111328, + "median": 32414.994140625, + "max": 100000.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "object_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 8695, + "nonfinite_count": 0 + }, + "effective_controller_edge_stiffness": { + "min": 979.7689208984375, + "median": 30367.953125, + "max": 100000.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_enabled": { + "min": 1.0, + "median": 1.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "controller_edge_cap_mask": { + "min": 0.0, + "median": 0.0, + "max": 1.0, + "finite_count": 1791, + "nonfinite_count": 0 + }, + "effective_ground_friction": { + "min": 0.45930132269859314, + "median": 0.45930132269859314, + "max": 0.45930132269859314, + "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": 0, + "raw_ground_restitution": 1, + "object_edge_stiffness": 677, + "controller_edge_stiffness": 95 + }, + "scored_object_model_file": "../cma_champion_model.json", + "fixed_model_inputs_file": "shared_fixed_model_inputs.json" +}