serialexperimentsleon commited on
Commit
29312ff
·
verified ·
1 Parent(s): c001caa

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking: layout switch step 12/31: delete processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0482.json +0 -254
  2. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0483.json +0 -254
  3. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0484.json +0 -254
  4. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0485.json +0 -254
  5. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0486.json +0 -254
  6. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0487.json +0 -254
  7. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0488.json +0 -254
  8. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0489.json +0 -254
  9. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0490.json +0 -254
  10. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0491.json +0 -254
  11. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0492.json +0 -254
  12. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0493.json +0 -254
  13. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0494.json +0 -254
  14. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0495.json +0 -254
  15. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0496.json +0 -254
  16. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0497.json +0 -254
  17. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0498.json +0 -254
  18. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0499.json +0 -254
  19. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0500.json +0 -254
  20. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0000.json +0 -0
  21. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0001.json +0 -0
  22. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0002.json +0 -0
  23. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0003.json +0 -0
  24. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0004.json +0 -0
  25. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0005.json +0 -0
  26. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0006.json +0 -0
  27. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0007.json +0 -0
  28. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0008.json +0 -0
  29. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0009.json +0 -0
  30. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0010.json +0 -0
  31. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0011.json +0 -0
  32. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0012.json +0 -0
  33. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0013.json +0 -0
  34. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0014.json +0 -0
  35. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0015.json +0 -0
  36. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0016.json +0 -0
  37. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0017.json +0 -0
  38. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0018.json +0 -0
  39. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0019.json +0 -0
  40. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0020.json +0 -0
  41. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0021.json +0 -0
  42. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0022.json +0 -0
  43. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0023.json +0 -0
  44. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0024.json +0 -0
  45. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0025.json +0 -0
  46. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0026.json +0 -0
  47. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0027.json +0 -0
  48. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0028.json +0 -0
  49. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0029.json +0 -0
  50. processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0030.json +0 -0
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0482.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0482",
5
- "executed_epochs": 482,
6
- "score": null,
7
- "best_score": 4.8206983235234346e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_88929ce78b3f44d599427645879ead1a.npz",
37
- "optimizer_file": "boundary_88929ce78b3f44d599427645879ead1a_optimizer.pt",
38
- "arrays_sha256": "ea29d82ad396c9dd1abc4c7fc38460c8c8f8a128b6ae7bcfbe86c2621a7d4128",
39
- "optimizer_sha256": "2a1dfeb32818de7e5f258cfab265cfa77e932e8db0d73a807f2982cb469e8fa6",
40
- "stage": "adam",
41
- "completed_passes": 482,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 80976,
45
- "adam_update_count": 80976,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 483,
49
- "consumed_count": 482,
50
- "last_submitted_update": 80976,
51
- "last_consumed_update": 80808,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 80976,
56
- "completed_passes": 482,
57
- "next_interval": 0,
58
- "trained_intervals": 80976,
59
- "snapshot": "pass_end_0482",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80472,
67
- "pass_science": {
68
- "completed_passes": 482,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 80976,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 80976,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 2.814942092754791e-07,
83
- "update_l2": 0.011616019532084465
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.058425773223462e-08,
95
- "update_l2": 0.0008603940950706601
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.515221659559757e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.515221659559757e-05,
110
- "observation_loss": 7.515221659559757e-05,
111
- "chamfer": 3.911356907337904e-05,
112
- "track": 3.603865116019733e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 482,
131
- "adam_update_count": 80976
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04177732113748789
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_88929ce78b3f44d599427645879ead1a_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 483,
143
- "next_interval": 0,
144
- "next_adam_update": 80977,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 482,
150
- "trained_intervals": 80976,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 80976,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3031872510910034,
163
- "median": 9.718982696533203,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.865736484527588,
184
- "median": 9.39442253112793,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.271664559841156,
191
- "median": 16630.318359375,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 129.76646423339844,
212
- "median": 12021.208984375,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5842,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0483.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0483",
5
- "executed_epochs": 483,
6
- "score": null,
7
- "best_score": 4.810616791842005e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_eaad59451c364382905c6ca6010fa592.npz",
37
- "optimizer_file": "boundary_eaad59451c364382905c6ca6010fa592_optimizer.pt",
38
- "arrays_sha256": "d8b9d080f9e66188a6b9932da8512f839048b0c288211697d7899889d0c6f4a8",
39
- "optimizer_sha256": "5fe43a4faa5ea751ac248be2a532f89599264710df569b6b20016d72bababc7e",
40
- "stage": "adam",
41
- "completed_passes": 483,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81144,
45
- "adam_update_count": 81144,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 484,
49
- "consumed_count": 483,
50
- "last_submitted_update": 81144,
51
- "last_consumed_update": 80976,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81144,
56
- "completed_passes": 483,
57
- "next_interval": 0,
58
- "trained_intervals": 81144,
59
- "snapshot": "pass_end_0483",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80976,
67
- "pass_science": {
68
- "completed_passes": 483,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81144,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81144,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 4.174574428361666e-07,
83
- "update_l2": 0.013812188990414143
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.257913843730421e-08,
95
- "update_l2": 0.00080720434198156
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.546473352704197e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.546473352704197e-05,
110
- "observation_loss": 7.546473352704197e-05,
111
- "chamfer": 4.016892853542231e-05,
112
- "track": 3.529580862959847e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 483,
131
- "adam_update_count": 81144
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.044515099143609405
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_eaad59451c364382905c6ca6010fa592_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 484,
143
- "next_interval": 0,
144
- "next_adam_update": 81145,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 483,
150
- "trained_intervals": 81144,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81144,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.304779291152954,
163
- "median": 9.719141006469727,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.863992691040039,
184
- "median": 9.393136978149414,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.27123239636421204,
191
- "median": 16632.951171875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 129.54037475585938,
212
- "median": 12005.7265625,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5853,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0484.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0484",
5
- "executed_epochs": 484,
6
- "score": null,
7
- "best_score": 4.810616791842005e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_aa54d29159724ac5862fc560ec560577.npz",
37
- "optimizer_file": "boundary_aa54d29159724ac5862fc560ec560577_optimizer.pt",
38
- "arrays_sha256": "79556b52a6237c7edaede4e70e77fa9e1d68d6b61860aff6592fe8d61c481c03",
39
- "optimizer_sha256": "b2b14a84eb84520823d29f77dcefc6b98eea6c869213ac756cedf789f96ec95a",
40
- "stage": "adam",
41
- "completed_passes": 484,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81312,
45
- "adam_update_count": 81312,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 485,
49
- "consumed_count": 484,
50
- "last_submitted_update": 81312,
51
- "last_consumed_update": 81144,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81312,
56
- "completed_passes": 484,
57
- "next_interval": 0,
58
- "trained_intervals": 81312,
59
- "snapshot": "pass_end_0484",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80976,
67
- "pass_science": {
68
- "completed_passes": 484,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81312,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81312,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 6.064615263312589e-07,
83
- "update_l2": 0.011820373125374317
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 3.559295436161847e-08,
95
- "update_l2": 0.0008337795734405518
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.683133298996836e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.683133298996836e-05,
110
- "observation_loss": 7.683133298996836e-05,
111
- "chamfer": 3.922339601558633e-05,
112
- "track": 3.760793333640322e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 484,
131
- "adam_update_count": 81312
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04053440713323653
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_aa54d29159724ac5862fc560ec560577_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 485,
143
- "next_interval": 0,
144
- "next_adam_update": 81313,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 484,
150
- "trained_intervals": 81312,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81312,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3060996532440186,
163
- "median": 9.71919059753418,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.862196922302246,
184
- "median": 9.393386840820312,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2708745002746582,
191
- "median": 16633.775390625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 129.30796813964844,
212
- "median": 12008.7392578125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5863,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0485.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0485",
5
- "executed_epochs": 485,
6
- "score": null,
7
- "best_score": 4.810616791842005e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_b815e9a817e04c788266fe705af5ed2a.npz",
37
- "optimizer_file": "boundary_b815e9a817e04c788266fe705af5ed2a_optimizer.pt",
38
- "arrays_sha256": "4842edf2f4846e0cb34ec780d74e533c528a3d6b37661c9ee0402b39b75430a6",
39
- "optimizer_sha256": "f5a2b9613005cf81b411f7e4b4a590ba943bfec619a3fb2d96cd6b7394aa46c7",
40
- "stage": "adam",
41
- "completed_passes": 485,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81480,
45
- "adam_update_count": 81480,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 486,
49
- "consumed_count": 485,
50
- "last_submitted_update": 81480,
51
- "last_consumed_update": 81312,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81480,
56
- "completed_passes": 485,
57
- "next_interval": 0,
58
- "trained_intervals": 81480,
59
- "snapshot": "pass_end_0485",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80976,
67
- "pass_science": {
68
- "completed_passes": 485,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81480,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81480,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.78137087864161e-07,
83
- "update_l2": 0.010986477136611938
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.4455617853600415e-08,
95
- "update_l2": 0.0010282694129273295
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.668523176107556e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.668523176107556e-05,
110
- "observation_loss": 7.668523176107556e-05,
111
- "chamfer": 3.928546357201412e-05,
112
- "track": 3.739976818906143e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 485,
131
- "adam_update_count": 81480
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.041543232975527644
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_b815e9a817e04c788266fe705af5ed2a_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 486,
143
- "next_interval": 0,
144
- "next_adam_update": 81481,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 485,
150
- "trained_intervals": 81480,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81480,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3073616027832031,
163
- "median": 9.719147682189941,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.860448837280273,
184
- "median": 9.397199630737305,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.27053290605545044,
191
- "median": 16633.060546875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 129.08213806152344,
212
- "median": 12054.8828125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5874,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0486.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0486",
5
- "executed_epochs": 486,
6
- "score": null,
7
- "best_score": 4.810616791842005e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_ba92c10bf87149b688818eb221d31ab3.npz",
37
- "optimizer_file": "boundary_ba92c10bf87149b688818eb221d31ab3_optimizer.pt",
38
- "arrays_sha256": "59b349894ef1b94d72238eca4716b6d542047fa3eaf5c34da89a3d18721bbd87",
39
- "optimizer_sha256": "a904a49cb47e88e0652dafb1d3d31fda75af532f15cb69debc8a8c20fb4fc992",
40
- "stage": "adam",
41
- "completed_passes": 486,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81648,
45
- "adam_update_count": 81648,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 487,
49
- "consumed_count": 486,
50
- "last_submitted_update": 81648,
51
- "last_consumed_update": 81480,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81648,
56
- "completed_passes": 486,
57
- "next_interval": 0,
58
- "trained_intervals": 81648,
59
- "snapshot": "pass_end_0486",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80976,
67
- "pass_science": {
68
- "completed_passes": 486,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81648,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81648,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 6.022453931109339e-07,
83
- "update_l2": 0.011137974448502064
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.3319992926171835e-08,
95
- "update_l2": 0.0010184550192207098
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.750713848508894e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.750713848508894e-05,
110
- "observation_loss": 7.750713848508894e-05,
111
- "chamfer": 3.973249113187194e-05,
112
- "track": 3.777465099119581e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 486,
131
- "adam_update_count": 81648
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04122284008190036
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_ba92c10bf87149b688818eb221d31ab3_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 487,
143
- "next_interval": 0,
144
- "next_adam_update": 81649,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 486,
150
- "trained_intervals": 81648,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81648,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.308407187461853,
163
- "median": 9.71926212310791,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.858455657958984,
184
- "median": 9.396839141845703,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2702501714229584,
191
- "median": 16634.96484375,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 128.82510375976562,
212
- "median": 12050.541015625,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5882,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0487.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0487",
5
- "executed_epochs": 487,
6
- "score": null,
7
- "best_score": 4.810616791842005e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_c1bdeb1127f14c28a8e72fcf0c21f394.npz",
37
- "optimizer_file": "boundary_c1bdeb1127f14c28a8e72fcf0c21f394_optimizer.pt",
38
- "arrays_sha256": "ecb21f1fec96e15c24a9a6832590264b4ed2566e70553748c48a5298c6a016ea",
39
- "optimizer_sha256": "32360811c47336a958b0f5f6b4d300cb0f53d7bdb9df045ab8a1f7281b2657a8",
40
- "stage": "adam",
41
- "completed_passes": 487,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81816,
45
- "adam_update_count": 81816,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 488,
49
- "consumed_count": 487,
50
- "last_submitted_update": 81816,
51
- "last_consumed_update": 81648,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81816,
56
- "completed_passes": 487,
57
- "next_interval": 0,
58
- "trained_intervals": 81816,
59
- "snapshot": "pass_end_0487",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 80976,
67
- "pass_science": {
68
- "completed_passes": 487,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81816,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81816,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.5098301509606245e-07,
83
- "update_l2": 0.010973764583468437
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.499614547626152e-08,
95
- "update_l2": 0.0009828585898503661
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.661442214157432e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.661442214157432e-05,
110
- "observation_loss": 7.661442214157432e-05,
111
- "chamfer": 3.92205583921168e-05,
112
- "track": 3.7393860111478716e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 487,
131
- "adam_update_count": 81816
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.0418927411083132
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_c1bdeb1127f14c28a8e72fcf0c21f394_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 488,
143
- "next_interval": 0,
144
- "next_adam_update": 81817,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 487,
150
- "trained_intervals": 81816,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81816,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3093461990356445,
163
- "median": 9.719337463378906,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.856438159942627,
184
- "median": 9.396360397338867,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2699965238571167,
191
- "median": 16636.21875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 128.56546020507812,
212
- "median": 12044.76953125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5891,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0488.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0488",
5
- "executed_epochs": 488,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_016eec52c2c643ba96b1d1bf2442933e.npz",
37
- "optimizer_file": "boundary_016eec52c2c643ba96b1d1bf2442933e_optimizer.pt",
38
- "arrays_sha256": "65de123e4a2f48852095a46a6baacbbfbe4c7c0d905910e2e175972622b0d8db",
39
- "optimizer_sha256": "400cdb6771f39d2dd4be9aa4acb14fbd26d8450d9fb9781cc6894573b5361f1e",
40
- "stage": "adam",
41
- "completed_passes": 488,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 81984,
45
- "adam_update_count": 81984,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 489,
49
- "consumed_count": 488,
50
- "last_submitted_update": 81984,
51
- "last_consumed_update": 81816,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 81984,
56
- "completed_passes": 488,
57
- "next_interval": 0,
58
- "trained_intervals": 81984,
59
- "snapshot": "pass_end_0488",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 488,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 81984,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 81984,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 5.47846127574303e-07,
83
- "update_l2": 0.0135443564504385
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.2584126447309245e-08,
95
- "update_l2": 0.0008722920902073383
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.482783985324204e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.482783985324204e-05,
110
- "observation_loss": 7.482783985324204e-05,
111
- "chamfer": 3.986812225775793e-05,
112
- "track": 3.4959721233462915e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 488,
131
- "adam_update_count": 81984
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.0416918380651623
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_016eec52c2c643ba96b1d1bf2442933e_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 489,
143
- "next_interval": 0,
144
- "next_adam_update": 81985,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 488,
150
- "trained_intervals": 81984,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 81984,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.310674786567688,
163
- "median": 9.719348907470703,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.8544158935546875,
184
- "median": 9.395919799804688,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2696380317211151,
191
- "median": 16636.41015625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 128.30572509765625,
212
- "median": 12039.46875,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5899,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0489.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0489",
5
- "executed_epochs": 489,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_dadeae2e468b4ac18d6425e03e0a7540.npz",
37
- "optimizer_file": "boundary_dadeae2e468b4ac18d6425e03e0a7540_optimizer.pt",
38
- "arrays_sha256": "9cb74d9e1f8c8cf08ff561f179d53b604d52461f17f754d670127edf54584173",
39
- "optimizer_sha256": "61bff110198bc45953144e01cfb02eda4aabbaeeb605d04ffad8e3f5275e8aae",
40
- "stage": "adam",
41
- "completed_passes": 489,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82152,
45
- "adam_update_count": 82152,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 490,
49
- "consumed_count": 489,
50
- "last_submitted_update": 82152,
51
- "last_consumed_update": 81984,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82152,
56
- "completed_passes": 489,
57
- "next_interval": 0,
58
- "trained_intervals": 82152,
59
- "snapshot": "pass_end_0489",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 489,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82152,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82152,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 4.770369628204207e-07,
83
- "update_l2": 0.013255955651402473
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.326027536194488e-08,
95
- "update_l2": 0.0007275439566001296
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.741156150586903e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.741156150586903e-05,
110
- "observation_loss": 7.741156150586903e-05,
111
- "chamfer": 4.1938110371120274e-05,
112
- "track": 3.5473454772727564e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 489,
131
- "adam_update_count": 82152
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04701876384206116
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_dadeae2e468b4ac18d6425e03e0a7540_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 490,
143
- "next_interval": 0,
144
- "next_adam_update": 82153,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 489,
150
- "trained_intervals": 82152,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82152,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3122299909591675,
163
- "median": 9.719547271728516,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.853255748748779,
184
- "median": 9.394291877746582,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2692190408706665,
191
- "median": 16639.708984375,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 128.15696716308594,
212
- "median": 12019.9189453125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5910,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0490.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0490",
5
- "executed_epochs": 490,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_c7c5736410fc4504b6a73967f44100bf.npz",
37
- "optimizer_file": "boundary_c7c5736410fc4504b6a73967f44100bf_optimizer.pt",
38
- "arrays_sha256": "3bfd195b2b888b4bbc8228f9e1e0cd915366dfd2a1cbcc070b531646eeaa0c08",
39
- "optimizer_sha256": "fa1c0fb64af31da88ab2e4a17a269c626a7e527b454b591cb33d77c9b9cdfaa2",
40
- "stage": "adam",
41
- "completed_passes": 490,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82320,
45
- "adam_update_count": 82320,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 491,
49
- "consumed_count": 490,
50
- "last_submitted_update": 82320,
51
- "last_consumed_update": 82152,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82320,
56
- "completed_passes": 490,
57
- "next_interval": 0,
58
- "trained_intervals": 82320,
59
- "snapshot": "pass_end_0490",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 490,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82320,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82320,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.45988894423499e-07,
83
- "update_l2": 0.011394479312002659
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.0943632484413683e-08,
95
- "update_l2": 0.000792146660387516
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.442149217240512e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.442149217240512e-05,
110
- "observation_loss": 7.442149217240512e-05,
111
- "chamfer": 3.875898619298823e-05,
112
- "track": 3.566250597941689e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 490,
131
- "adam_update_count": 82320
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.040491494815796614
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_c7c5736410fc4504b6a73967f44100bf_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 491,
143
- "next_interval": 0,
144
- "next_adam_update": 82321,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 490,
150
- "trained_intervals": 82320,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82320,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3135453462600708,
163
- "median": 9.719672203063965,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.851556301116943,
184
- "median": 9.393831253051758,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2688651382923126,
191
- "median": 16641.787109375,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 127.9393539428711,
212
- "median": 12014.365234375,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5919,
250
- "controller_edge_stiffness": 64
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0491.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0491",
5
- "executed_epochs": 491,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_c0f5cda13962437aa5b1d40be8e787ee.npz",
37
- "optimizer_file": "boundary_c0f5cda13962437aa5b1d40be8e787ee_optimizer.pt",
38
- "arrays_sha256": "5385017deee18a3922106a99ee0104107b6720af93f2910a925396a368508955",
39
- "optimizer_sha256": "296e509a398263f1954bfbf53c08cc02c88943fb6f22e2a1b230267c57f7e0b6",
40
- "stage": "adam",
41
- "completed_passes": 491,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82488,
45
- "adam_update_count": 82488,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 492,
49
- "consumed_count": 491,
50
- "last_submitted_update": 82488,
51
- "last_consumed_update": 82320,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82488,
56
- "completed_passes": 491,
57
- "next_interval": 0,
58
- "trained_intervals": 82488,
59
- "snapshot": "pass_end_0491",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 491,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82488,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82488,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 4.0493611663805495e-07,
83
- "update_l2": 0.011811644770205021
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.0063344641794174e-08,
95
- "update_l2": 0.0007879544864408672
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.477367034880444e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.477367034880444e-05,
110
- "observation_loss": 7.477367034880444e-05,
111
- "chamfer": 3.879685391439125e-05,
112
- "track": 3.5976816434413195e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 491,
131
- "adam_update_count": 82488
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04068895196542144
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_c0f5cda13962437aa5b1d40be8e787ee_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 492,
143
- "next_interval": 0,
144
- "next_adam_update": 82489,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 491,
150
- "trained_intervals": 82488,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82488,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3146326541900635,
163
- "median": 9.719769477844238,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.849555492401123,
184
- "median": 9.393316268920898,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.26857295632362366,
191
- "median": 16643.40625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 127.68362426757812,
212
- "median": 12008.158203125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5926,
250
- "controller_edge_stiffness": 65
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0492.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0492",
5
- "executed_epochs": 492,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_76e1a707ac254dfd8742a89dd45b4106.npz",
37
- "optimizer_file": "boundary_76e1a707ac254dfd8742a89dd45b4106_optimizer.pt",
38
- "arrays_sha256": "265fc12119ed06125f771ac45661a1fcd196d26221b7ce12465af909b8089f90",
39
- "optimizer_sha256": "a78179ab402f60986d8a8b08e577e1a0f562e6f310194adf01a1dfc6674b5e17",
40
- "stage": "adam",
41
- "completed_passes": 492,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82656,
45
- "adam_update_count": 82656,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 493,
49
- "consumed_count": 492,
50
- "last_submitted_update": 82656,
51
- "last_consumed_update": 82488,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82656,
56
- "completed_passes": 492,
57
- "next_interval": 0,
58
- "trained_intervals": 82656,
59
- "snapshot": "pass_end_0492",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 492,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82656,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82656,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.4034553664241685e-07,
83
- "update_l2": 0.010680402629077435
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.659637653503523e-08,
95
- "update_l2": 0.000906284200027585
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.622191333211958e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.622191333211958e-05,
110
- "observation_loss": 7.622191333211958e-05,
111
- "chamfer": 3.903879041899927e-05,
112
- "track": 3.7183122913120314e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 492,
131
- "adam_update_count": 82656
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04058864200487733
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_76e1a707ac254dfd8742a89dd45b4106_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 493,
143
- "next_interval": 0,
144
- "next_adam_update": 82657,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 492,
150
- "trained_intervals": 82656,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82656,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3157274723052979,
163
- "median": 9.719839096069336,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.848366737365723,
184
- "median": 9.392705917358398,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2682790756225586,
191
- "median": 16644.56640625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 127.53192901611328,
212
- "median": 12000.828125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5944,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0493.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0493",
5
- "executed_epochs": 493,
6
- "score": null,
7
- "best_score": 4.79453648376009e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_eefb887e4e4e46b2826e4e8cd53d7dff.npz",
37
- "optimizer_file": "boundary_eefb887e4e4e46b2826e4e8cd53d7dff_optimizer.pt",
38
- "arrays_sha256": "6fc447312601b453317c9b0ce17ca087c9fe8515a970bdc53fb5132999eabb89",
39
- "optimizer_sha256": "a2d3fd41b789552564806cc4f5deb8c6ae9172823407131155c4d74ee60f60c0",
40
- "stage": "adam",
41
- "completed_passes": 493,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82824,
45
- "adam_update_count": 82824,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 494,
49
- "consumed_count": 493,
50
- "last_submitted_update": 82824,
51
- "last_consumed_update": 82656,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82824,
56
- "completed_passes": 493,
57
- "next_interval": 0,
58
- "trained_intervals": 82824,
59
- "snapshot": "pass_end_0493",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 81816,
67
- "pass_science": {
68
- "completed_passes": 493,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82824,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82824,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.556856711384171e-07,
83
- "update_l2": 0.012611913494765759
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.297401190456185e-08,
95
- "update_l2": 0.0007373297703452408
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.814637501724064e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.814637501724064e-05,
110
- "observation_loss": 7.814637501724064e-05,
111
- "chamfer": 4.217423338559456e-05,
112
- "track": 3.5972137993667275e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 493,
131
- "adam_update_count": 82824
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04006875306367874
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_eefb887e4e4e46b2826e4e8cd53d7dff_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 494,
143
- "next_interval": 0,
144
- "next_adam_update": 82825,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 493,
150
- "trained_intervals": 82824,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82824,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3171093463897705,
163
- "median": 9.71987533569336,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.8468523025512695,
184
- "median": 9.392298698425293,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.26790863275527954,
191
- "median": 16645.169921875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 127.33893585205078,
212
- "median": 11995.900390625,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5952,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0494.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0494",
5
- "executed_epochs": 494,
6
- "score": null,
7
- "best_score": 4.789927642637589e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_ad0924c587cb407982125eb0e35e7a38.npz",
37
- "optimizer_file": "boundary_ad0924c587cb407982125eb0e35e7a38_optimizer.pt",
38
- "arrays_sha256": "1cfe02b1269d6cb504aa63f228022fb58d6103c7f9e7c1b5eebc9519181b6a9d",
39
- "optimizer_sha256": "71a74aad648913619ccd5852ce40cc0382185a457a53050a66c3e7775b0467b7",
40
- "stage": "adam",
41
- "completed_passes": 494,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 82992,
45
- "adam_update_count": 82992,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 495,
49
- "consumed_count": 494,
50
- "last_submitted_update": 82992,
51
- "last_consumed_update": 82824,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 82992,
56
- "completed_passes": 494,
57
- "next_interval": 0,
58
- "trained_intervals": 82992,
59
- "snapshot": "pass_end_0494",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 82824,
67
- "pass_science": {
68
- "completed_passes": 494,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 82992,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 82992,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 5.004582135370583e-07,
83
- "update_l2": 0.013416201807558537
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.2875953454313276e-08,
95
- "update_l2": 0.0008254582644440234
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.773422839818522e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.773422839818522e-05,
110
- "observation_loss": 7.773422839818522e-05,
111
- "chamfer": 4.191255720797926e-05,
112
- "track": 3.582167119020596e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 494,
131
- "adam_update_count": 82992
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.042365757981315255
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_ad0924c587cb407982125eb0e35e7a38_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 495,
143
- "next_interval": 0,
144
- "next_adam_update": 82993,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 494,
150
- "trained_intervals": 82992,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 82992,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3187229633331299,
163
- "median": 9.719948768615723,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.845316410064697,
184
- "median": 9.391847610473633,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2674766480922699,
191
- "median": 16646.390625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 127.14350891113281,
212
- "median": 11990.482421875,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5963,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0495.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0495",
5
- "executed_epochs": 495,
6
- "score": null,
7
- "best_score": 4.789927642637589e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_8b1b0c9a7dcf4f19841feea41042e288.npz",
37
- "optimizer_file": "boundary_8b1b0c9a7dcf4f19841feea41042e288_optimizer.pt",
38
- "arrays_sha256": "068304220db426dd5fbc158899f4a546f75c8f0e53a8c72e45933282fa7a570b",
39
- "optimizer_sha256": "d9c88907f1a791c37d0ddf8bb5d75722105ebd1a620e23921f5a5567406e47e3",
40
- "stage": "adam",
41
- "completed_passes": 495,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 83160,
45
- "adam_update_count": 83160,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 496,
49
- "consumed_count": 495,
50
- "last_submitted_update": 83160,
51
- "last_consumed_update": 82992,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 83160,
56
- "completed_passes": 495,
57
- "next_interval": 0,
58
- "trained_intervals": 83160,
59
- "snapshot": "pass_end_0495",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 82824,
67
- "pass_science": {
68
- "completed_passes": 495,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 83160,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 83160,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 1.0019321052823216e-06,
83
- "update_l2": 0.012351855635643005
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.650596352462344e-08,
95
- "update_l2": 0.0010146641870960593
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.704056042712182e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.704056042712182e-05,
110
- "observation_loss": 7.704056042712182e-05,
111
- "chamfer": 3.9740974898450077e-05,
112
- "track": 3.7299581890692934e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 495,
131
- "adam_update_count": 83160
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04083207808434963
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_8b1b0c9a7dcf4f19841feea41042e288_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 496,
143
- "next_interval": 0,
144
- "next_adam_update": 83161,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 495,
150
- "trained_intervals": 83160,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 83160,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3199549913406372,
163
- "median": 9.720129013061523,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.843756198883057,
184
- "median": 9.391366958618164,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.26714733242988586,
191
- "median": 16649.392578125,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 126.94529724121094,
212
- "median": 11984.72265625,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5972,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0496.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0496",
5
- "executed_epochs": 496,
6
- "score": null,
7
- "best_score": 4.781348964873663e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_3e421b34642d47329106f8b29e655e01.npz",
37
- "optimizer_file": "boundary_3e421b34642d47329106f8b29e655e01_optimizer.pt",
38
- "arrays_sha256": "110c31bbd7ff4f2257bad4d636278d68c164a7e41bc1a11e91380c5484edf92c",
39
- "optimizer_sha256": "5d27d75d72480055dbd516efaef501404dc28c5956350419c499b885687de9b8",
40
- "stage": "adam",
41
- "completed_passes": 496,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 83328,
45
- "adam_update_count": 83328,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 497,
49
- "consumed_count": 496,
50
- "last_submitted_update": 83328,
51
- "last_consumed_update": 83160,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 83328,
56
- "completed_passes": 496,
57
- "next_interval": 0,
58
- "trained_intervals": 83328,
59
- "snapshot": "pass_end_0496",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 83160,
67
- "pass_science": {
68
- "completed_passes": 496,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 83328,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 83328,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 5.321927574186702e-07,
83
- "update_l2": 0.013511927798390388
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.319517188378086e-08,
95
- "update_l2": 0.0009046988561749458
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.79289985075593e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.79289985075593e-05,
110
- "observation_loss": 7.79289985075593e-05,
111
- "chamfer": 4.199509567115456e-05,
112
- "track": 3.593390647438355e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 496,
131
- "adam_update_count": 83328
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.039796032942831516
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_3e421b34642d47329106f8b29e655e01_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 497,
143
- "next_interval": 0,
144
- "next_adam_update": 83329,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 496,
150
- "trained_intervals": 83328,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 83328,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3212579488754272,
163
- "median": 9.720407485961914,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.842173099517822,
184
- "median": 9.391006469726562,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2667994499206543,
191
- "median": 16654.029296875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 126.74449157714844,
212
- "median": 11980.390625,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5981,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0497.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0497",
5
- "executed_epochs": 497,
6
- "score": null,
7
- "best_score": 4.781348964873663e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_15f5da84f6294a259dc78f277e00a7f2.npz",
37
- "optimizer_file": "boundary_15f5da84f6294a259dc78f277e00a7f2_optimizer.pt",
38
- "arrays_sha256": "1a2989227c205dc021e6b6b93965b8f9d65243f4b9279db504b578f6dbe17a45",
39
- "optimizer_sha256": "681bd7474d7bf81e85b13014d3d327a83bbbfd273531d3ad4864e413e7d8d450",
40
- "stage": "adam",
41
- "completed_passes": 497,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 83496,
45
- "adam_update_count": 83496,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 498,
49
- "consumed_count": 497,
50
- "last_submitted_update": 83496,
51
- "last_consumed_update": 83328,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 83496,
56
- "completed_passes": 497,
57
- "next_interval": 0,
58
- "trained_intervals": 83496,
59
- "snapshot": "pass_end_0497",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 83160,
67
- "pass_science": {
68
- "completed_passes": 497,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 83496,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 83496,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.060845301661175e-07,
83
- "update_l2": 0.01164613664150238
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 3.8868094520694285e-08,
95
- "update_l2": 0.0008570636855438352
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.801994797773659e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.801994797773659e-05,
110
- "observation_loss": 7.801994797773659e-05,
111
- "chamfer": 4.185022771707736e-05,
112
- "track": 3.616972026065923e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 497,
131
- "adam_update_count": 83496
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.040912289172410965
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_15f5da84f6294a259dc78f277e00a7f2_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 498,
143
- "next_interval": 0,
144
- "next_adam_update": 83497,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 497,
150
- "trained_intervals": 83496,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 83496,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3227405548095703,
163
- "median": 9.720598220825195,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.836604595184326,
184
- "median": 9.39061164855957,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2664042115211487,
191
- "median": 16657.205078125,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 126.04066467285156,
212
- "median": 11975.654296875,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5990,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0498.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0498",
5
- "executed_epochs": 498,
6
- "score": null,
7
- "best_score": 4.781348964873663e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_a9982d757ff449a6a54e1afba9f74219.npz",
37
- "optimizer_file": "boundary_a9982d757ff449a6a54e1afba9f74219_optimizer.pt",
38
- "arrays_sha256": "b0651bd4bb2c12661a5e1d4ed9f23a3e149feab33e8b72a49f166b13d6792831",
39
- "optimizer_sha256": "aec285fec2ba62cd9857841834fec2dc07243509bf44dd0bd4207e4fbd5bfcb9",
40
- "stage": "adam",
41
- "completed_passes": 498,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 83664,
45
- "adam_update_count": 83664,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 499,
49
- "consumed_count": 498,
50
- "last_submitted_update": 83664,
51
- "last_consumed_update": 83496,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 83664,
56
- "completed_passes": 498,
57
- "next_interval": 0,
58
- "trained_intervals": 83664,
59
- "snapshot": "pass_end_0498",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 83160,
67
- "pass_science": {
68
- "completed_passes": 498,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 83664,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 83664,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.265273278429959e-07,
83
- "update_l2": 0.01089512463659048
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.530481589881674e-08,
95
- "update_l2": 0.0009179793996736407
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.613750494783744e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.613750494783744e-05,
110
- "observation_loss": 7.613750494783744e-05,
111
- "chamfer": 3.8922025851206854e-05,
112
- "track": 3.721547909663059e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 498,
131
- "adam_update_count": 83664
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04107284499332309
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_a9982d757ff449a6a54e1afba9f74219_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 499,
143
- "next_interval": 0,
144
- "next_adam_update": 83665,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 498,
150
- "trained_intervals": 83664,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 83664,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3237603902816772,
163
- "median": 9.720622062683105,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.832905292510986,
184
- "median": 9.390178680419922,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.266132652759552,
191
- "median": 16657.603515625,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 125.57527160644531,
212
- "median": 11970.4736328125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5995,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0499.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0499",
5
- "executed_epochs": 499,
6
- "score": null,
7
- "best_score": 4.781348964873663e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_35b04896d5f743b2ad8bdb6f220b5d6b.npz",
37
- "optimizer_file": "boundary_35b04896d5f743b2ad8bdb6f220b5d6b_optimizer.pt",
38
- "arrays_sha256": "a2ce2de5b006fa44c20151c8902710a7e63d9fa25f5620186a6fbbae940fc78f",
39
- "optimizer_sha256": "5bb4c45fcdca39f3249520aaaadcdc049b8b023a27ee22a90540690d20251f8e",
40
- "stage": "adam",
41
- "completed_passes": 499,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 83832,
45
- "adam_update_count": 83832,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 500,
49
- "consumed_count": 499,
50
- "last_submitted_update": 83832,
51
- "last_consumed_update": 83664,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 83832,
56
- "completed_passes": 499,
57
- "next_interval": 0,
58
- "trained_intervals": 83832,
59
- "snapshot": "pass_end_0499",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 83160,
67
- "pass_science": {
68
- "completed_passes": 499,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 83832,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 83832,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 3.4951173688568815e-07,
83
- "update_l2": 0.01096195075660944
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.5397811732073023e-08,
95
- "update_l2": 0.0009621029603295028
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.61648261686787e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.61648261686787e-05,
110
- "observation_loss": 7.61648261686787e-05,
111
- "chamfer": 3.890452717314474e-05,
112
- "track": 3.7260302633512765e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 499,
131
- "adam_update_count": 83832
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.05430863192304969
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_35b04896d5f743b2ad8bdb6f220b5d6b_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 500,
143
- "next_interval": 0,
144
- "next_adam_update": 83833,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 499,
150
- "trained_intervals": 83832,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 83832,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3246618509292603,
163
- "median": 9.720876693725586,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.829222679138184,
184
- "median": 9.38969898223877,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.2658928632736206,
191
- "median": 16661.845703125,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 125.1136703491211,
212
- "median": 11964.73046875,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 5999,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_end_0500.json DELETED
@@ -1,254 +0,0 @@
1
- {
2
- "schema_version": "p12_privileged_adam_checkpoint.v1",
3
- "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
- "label": "pass_end_0500",
5
- "executed_epochs": 500,
6
- "score": null,
7
- "best_score": 4.7692582343404953e-05,
8
- "patience_epochs": 0,
9
- "window_start_score": null,
10
- "leaf_names": [
11
- "log_object_edge_stiffness",
12
- "raw_ground_friction",
13
- "raw_ground_restitution",
14
- "log_controller_edge_stiffness"
15
- ],
16
- "lr": 0.001,
17
- "betas": [
18
- 0.9,
19
- 0.99
20
- ],
21
- "eps": 1e-08,
22
- "spring_y_clamp": [
23
- 0.0,
24
- 100000.0
25
- ],
26
- "ground_restitution_clamp": [
27
- 0.0,
28
- 1.0
29
- ],
30
- "ground_friction_clamp": [
31
- 0.0,
32
- 2.0
33
- ],
34
- "clamp_at_use_only": true,
35
- "metric_role": "all_data_in_sample",
36
- "arrays_file": "boundary_78735f0713374114b3cd18ac1e63c137.npz",
37
- "optimizer_file": "boundary_78735f0713374114b3cd18ac1e63c137_optimizer.pt",
38
- "arrays_sha256": "61e23e4e65f51cabe0b199fba96e06f81b7f98b4d993b9958fd208eb7bd3a8ff",
39
- "optimizer_sha256": "4d4545ed63933bb4997063096bcfd503f1fe0e571f4ba75ff03bba4c62cfa988",
40
- "stage": "adam",
41
- "completed_passes": 500,
42
- "score_status": "unscored",
43
- "adam_transition_batch_size": 1,
44
- "cumulative_optimizer_updates": 84000,
45
- "adam_update_count": 84000,
46
- "score_selection_progress": {
47
- "queue": "pass_snapshot_references_v2",
48
- "submitted_count": 501,
49
- "consumed_count": 500,
50
- "last_submitted_update": 84000,
51
- "last_consumed_update": 83832,
52
- "pending": [
53
- {
54
- "reference": {
55
- "source_update": 84000,
56
- "completed_passes": 500,
57
- "next_interval": 0,
58
- "trained_intervals": 84000,
59
- "snapshot": "pass_end_0500",
60
- "candidate": true
61
- },
62
- "status": "registered"
63
- }
64
- ]
65
- },
66
- "best_source_update": 83832,
67
- "pass_science": {
68
- "completed_passes": 500,
69
- "adam_schedule": "source_transition_v1",
70
- "next_interval": 0,
71
- "trained_intervals": 84000,
72
- "adam_transition_batch_size": 1,
73
- "optimizer_updates": 1,
74
- "cumulative_optimizer_updates": 84000,
75
- "updates": [
76
- {
77
- "batch_transition_count": 1,
78
- "batch_weight_sum": 0.005952380952380952,
79
- "lr": 0.001,
80
- "leaf_metrics": {
81
- "log_object_edge_stiffness": {
82
- "gradient_l2": 5.653215566781e-07,
83
- "update_l2": 0.013462744653224945
84
- },
85
- "raw_ground_friction": {
86
- "gradient_l2": 0.0,
87
- "update_l2": 0.0
88
- },
89
- "raw_ground_restitution": {
90
- "gradient_l2": 0.0,
91
- "update_l2": 0.0
92
- },
93
- "log_controller_edge_stiffness": {
94
- "gradient_l2": 4.280965626435318e-08,
95
- "update_l2": 0.0008519527036696672
96
- }
97
- },
98
- "training_path_transitions": [
99
- {
100
- "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
101
- "transition_index": 167,
102
- "loss": 7.771917444188148e-05,
103
- "weight": 0.005952380952380952
104
- }
105
- ],
106
- "loss_role": "pre_update_training_path_not_checkpoint_score",
107
- "observation_transition": {
108
- "transition_index": 167,
109
- "loss": 7.771917444188148e-05,
110
- "observation_loss": 7.771917444188148e-05,
111
- "chamfer": 4.185223951935768e-05,
112
- "track": 3.5866934922523797e-05,
113
- "acceleration": 0.0,
114
- "visible_count": 7957,
115
- "motion_valid_count": 7915,
116
- "n_nodes": 7957,
117
- "state_finite": true,
118
- "frame_indices": [
119
- 217,
120
- 218
121
- ],
122
- "times_s": [
123
- 5.566666666666666,
124
- 5.6
125
- ],
126
- "finite": true,
127
- "frozen_visible_denominator": 7957,
128
- "frozen_motion_denominator": 7945
129
- },
130
- "completed_passes": 500,
131
- "adam_update_count": 84000
132
- }
133
- ],
134
- "training_path_role": "pre-update transition losses; never checkpoint selection",
135
- "wall_time_s": 0.04093260201625526
136
- },
137
- "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",
138
- "execution_mode": "atomic_captured",
139
- "rng_file": "boundary_78735f0713374114b3cd18ac1e63c137_rng.pt",
140
- "rng_sha256": "7f86e8806e9e6dcf1229c93b5299eb65185090adf116731bb966431155aa2ca2",
141
- "resume_boundary": "detached_observation_interval",
142
- "next_pass": 501,
143
- "next_interval": 0,
144
- "next_adam_update": 84001,
145
- "schedule_id": "source_transition_v1",
146
- "adam_schedule": "source_transition_v1",
147
- "source_cursor": {
148
- "next_interval": 0,
149
- "completed_passes": 500,
150
- "trained_intervals": 84000,
151
- "source_timestamp_s": 5.6,
152
- "next_source_timestamp_s": 0.0,
153
- "update_budget": 84000
154
- },
155
- "trained_intervals": 84000,
156
- "source_timestamp_s": 5.6,
157
- "archive_axis": "optimizer_update",
158
- "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
- "collision_distance_m": null,
160
- "parameter_summary": {
161
- "log_object_edge_stiffness": {
162
- "min": -1.3260295391082764,
163
- "median": 9.721081733703613,
164
- "max": 11.530094146728516,
165
- "finite_count": 50173,
166
- "nonfinite_count": 0
167
- },
168
- "raw_ground_friction": {
169
- "min": 2.005976915359497,
170
- "median": 2.005976915359497,
171
- "max": 2.005976915359497,
172
- "finite_count": 1,
173
- "nonfinite_count": 0
174
- },
175
- "raw_ground_restitution": {
176
- "min": -0.0029794860165566206,
177
- "median": -0.0029794860165566206,
178
- "max": -0.0029794860165566206,
179
- "finite_count": 1,
180
- "nonfinite_count": 0
181
- },
182
- "log_controller_edge_stiffness": {
183
- "min": 4.82401180267334,
184
- "median": 9.389315605163574,
185
- "max": 11.524574279785156,
186
- "finite_count": 300,
187
- "nonfinite_count": 0
188
- },
189
- "effective_object_edge_stiffness": {
190
- "min": 0.26552945375442505,
191
- "median": 16665.26171875,
192
- "max": 100000.0,
193
- "finite_count": 50173,
194
- "nonfinite_count": 0
195
- },
196
- "object_edge_enabled": {
197
- "min": 1.0,
198
- "median": 1.0,
199
- "max": 1.0,
200
- "finite_count": 50173,
201
- "nonfinite_count": 0
202
- },
203
- "object_edge_cap_mask": {
204
- "min": 0.0,
205
- "median": 0.0,
206
- "max": 1.0,
207
- "finite_count": 50173,
208
- "nonfinite_count": 0
209
- },
210
- "effective_controller_edge_stiffness": {
211
- "min": 124.46341705322266,
212
- "median": 11960.126953125,
213
- "max": 100000.0,
214
- "finite_count": 300,
215
- "nonfinite_count": 0
216
- },
217
- "controller_edge_enabled": {
218
- "min": 1.0,
219
- "median": 1.0,
220
- "max": 1.0,
221
- "finite_count": 300,
222
- "nonfinite_count": 0
223
- },
224
- "controller_edge_cap_mask": {
225
- "min": 0.0,
226
- "median": 0.0,
227
- "max": 1.0,
228
- "finite_count": 300,
229
- "nonfinite_count": 0
230
- },
231
- "effective_ground_friction": {
232
- "min": 2.0,
233
- "median": 2.0,
234
- "max": 2.0,
235
- "finite_count": 1,
236
- "nonfinite_count": 0
237
- },
238
- "effective_ground_restitution": {
239
- "min": 0.0,
240
- "median": 0.0,
241
- "max": 0.0,
242
- "finite_count": 1,
243
- "nonfinite_count": 0
244
- }
245
- },
246
- "guard_affected_counts": {
247
- "raw_ground_friction": 1,
248
- "raw_ground_restitution": 1,
249
- "object_edge_stiffness": 6009,
250
- "controller_edge_stiffness": 66
251
- },
252
- "scored_object_model_file": "../cma_champion_model.json",
253
- "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0000.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0001.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0002.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0003.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0004.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0005.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0006.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0007.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0008.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0009.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0010.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0011.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0012.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0013.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0014.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0015.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0016.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0017.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0018.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0019.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0020.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0021.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0022.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0023.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0024.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0025.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0026.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0027.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0028.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0029.json DELETED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/native/adam_epochs/pass_scores/pass_end_0030.json DELETED
The diff for this file is too large to render. See raw diff