processed/001-rope/episode_0/runs/deform-rope-ep0-dp5: layout switch step 19/31: delete processed/001-rope/episode_0/runs/deform-rope-ep0-dp5
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0472.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0473.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0474.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0475.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0476.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0477.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0478.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0479.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0480.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0481.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0482.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0483.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0484.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0485.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0486.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0487.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0488.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0489.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0490.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0491.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0492.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0493.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0494.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0495.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0496.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0497.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0498.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0499.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0500.json +0 -423
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0000.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0001.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0002.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0003.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0004.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0005.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0006.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0007.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0008.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0009.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0010.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0011.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0012.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0013.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0014.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0015.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0016.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0017.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0018.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0019.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0020.json +0 -0
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0472.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0472",
|
| 5 |
-
"executed_epochs": 472,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_da889f530a404f6c9d7c2ee731f1cfe8.npz",
|
| 37 |
-
"optimizer_file": "boundary_da889f530a404f6c9d7c2ee731f1cfe8_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "719e93fc475fca390992ce99786cf89896eb0ff8b3be3c79320264a87a7f5ecd",
|
| 39 |
-
"optimizer_sha256": "def3c3c01d6a5a1ba15eda801bb063a185b3cb91c97bb955638a2273e292892e",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 472,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45312,
|
| 45 |
-
"adam_update_count": 45312,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 473,
|
| 49 |
-
"consumed_count": 472,
|
| 50 |
-
"last_submitted_update": 45312,
|
| 51 |
-
"last_consumed_update": 45216,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45312,
|
| 56 |
-
"completed_passes": 472,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45312,
|
| 59 |
-
"snapshot": "pass_end_0472",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 472,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45312,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45312,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.592926315031946e-05,
|
| 83 |
-
"update_l2": 0.02439151518046856
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0025694062933325768,
|
| 87 |
-
"update_l2": 0.0007196366786956787
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.110060384235112e-05,
|
| 95 |
-
"update_l2": 0.009560528211295605
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012951592517711268,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5710,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4704534709453583,
|
| 114 |
-
"ground_friction/effective": 0.4704534709453583,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012951592517711268,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036564436741173267,
|
| 129 |
-
"ssim_fused": 0.9822303652763367,
|
| 130 |
-
"seg_l1": 0.0036478089168667793,
|
| 131 |
-
"seg_ssim_ref": 0.9822303652763367,
|
| 132 |
-
"depth": 0.0003339477554421562,
|
| 133 |
-
"rgb_loss": 0.0064790756441652775,
|
| 134 |
-
"seg_loss": 0.006472183391451836,
|
| 135 |
-
"total": 0.012951592517711268
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004380655474960804,
|
| 141 |
-
"ssim_fused": 0.9795473217964172,
|
| 142 |
-
"seg_l1": 0.004437504336237907,
|
| 143 |
-
"seg_ssim_ref": 0.9795476794242859,
|
| 144 |
-
"depth": 0.0004778386075582562,
|
| 145 |
-
"rgb_loss": 0.007595060393214226,
|
| 146 |
-
"seg_loss": 0.007640467956662178,
|
| 147 |
-
"total": 0.015236006188483963,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004778386075582562,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001031109599888118
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002907733665779233,
|
| 174 |
-
"ssim_fused": 0.9857452511787415,
|
| 175 |
-
"seg_l1": 0.0032418787013739347,
|
| 176 |
-
"seg_ssim_ref": 0.9857451915740967,
|
| 177 |
-
"depth": 0.00041450901712135747,
|
| 178 |
-
"rgb_loss": 0.0051771365106105804,
|
| 179 |
-
"seg_loss": 0.005444464739412069,
|
| 180 |
-
"total": 0.010622016224701058,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041450901712135747,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001663677410796908
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002477941568940878,
|
| 207 |
-
"ssim_fused": 0.9864518046379089,
|
| 208 |
-
"seg_l1": 0.002324597677215934,
|
| 209 |
-
"seg_ssim_ref": 0.9864515662193298,
|
| 210 |
-
"depth": 0.0003232741544393097,
|
| 211 |
-
"rgb_loss": 0.004691992420703173,
|
| 212 |
-
"seg_loss": 0.004569364711642265,
|
| 213 |
-
"total": 0.00926167994083859,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003232741544393097,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.1351411383754166e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004859443288296461,
|
| 240 |
-
"ssim_fused": 0.9771772027015686,
|
| 241 |
-
"seg_l1": 0.004587254021316767,
|
| 242 |
-
"seg_ssim_ref": 0.9771768450737,
|
| 243 |
-
"depth": 0.00012016924264970131,
|
| 244 |
-
"rgb_loss": 0.008452113717794418,
|
| 245 |
-
"seg_loss": 0.008234434761106968,
|
| 246 |
-
"total": 0.016686667716821462,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012016924264970131,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012016924264970128
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 472,
|
| 281 |
-
"adam_update_count": 45312
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13253641201299615
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_da889f530a404f6c9d7c2ee731f1cfe8_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 473,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45313,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 472,
|
| 300 |
-
"trained_intervals": 45312,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45312,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4154248237609863,
|
| 333 |
-
"median": 11.515484809875488,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47117310762405396,
|
| 340 |
-
"median": 0.47117310762405396,
|
| 341 |
-
"max": 0.47117310762405396,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.47963669896125793,
|
| 354 |
-
"median": 9.244534492492676,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08932938426733017,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.6154873371124268,
|
| 382 |
-
"median": 10347.8544921875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47117310762405396,
|
| 403 |
-
"median": 0.47117310762405396,
|
| 404 |
-
"max": 0.47117310762405396,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5710,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0473.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0473",
|
| 5 |
-
"executed_epochs": 473,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_ee289a5a2b8b49f889cb5dc05d6df8fb.npz",
|
| 37 |
-
"optimizer_file": "boundary_ee289a5a2b8b49f889cb5dc05d6df8fb_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "8d1abd104bdaf56710280cb3c851fe97b6d8d8e74badcc35f8e08ce7c9441c38",
|
| 39 |
-
"optimizer_sha256": "ab0812a8986c0bbae141bc55f4e2b39cc3026ac9388812b9130eaf4da1804af8",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 473,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45408,
|
| 45 |
-
"adam_update_count": 45408,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 474,
|
| 49 |
-
"consumed_count": 473,
|
| 50 |
-
"last_submitted_update": 45408,
|
| 51 |
-
"last_consumed_update": 45312,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45408,
|
| 56 |
-
"completed_passes": 473,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45408,
|
| 59 |
-
"snapshot": "pass_end_0473",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 473,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45408,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45408,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.60578948049806e-05,
|
| 83 |
-
"update_l2": 0.0246585700660944
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027290123980492353,
|
| 87 |
-
"update_l2": 0.0007348954677581787
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1278404599579517e-05,
|
| 95 |
-
"update_l2": 0.009115930646657944
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012931231147726612,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5713,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47046959400177,
|
| 114 |
-
"ground_friction/effective": 0.47046959400177,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012931231147726612,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036512918304651976,
|
| 129 |
-
"ssim_fused": 0.982253909111023,
|
| 130 |
-
"seg_l1": 0.0036392398178577423,
|
| 131 |
-
"seg_ssim_ref": 0.9822537899017334,
|
| 132 |
-
"depth": 0.00033338472767338524,
|
| 133 |
-
"rgb_loss": 0.006470260675996542,
|
| 134 |
-
"seg_loss": 0.006460636854171753,
|
| 135 |
-
"total": 0.012931231147726612
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004372897557914257,
|
| 141 |
-
"ssim_fused": 0.9795786142349243,
|
| 142 |
-
"seg_l1": 0.004428439773619175,
|
| 143 |
-
"seg_ssim_ref": 0.979578971862793,
|
| 144 |
-
"depth": 0.0004772124634088121,
|
| 145 |
-
"rgb_loss": 0.007582595571875572,
|
| 146 |
-
"seg_loss": 0.007626957260072231,
|
| 147 |
-
"total": 0.015210030044411212,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004772124634088121,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010248481583936762
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002894410863518715,
|
| 174 |
-
"ssim_fused": 0.9857924580574036,
|
| 175 |
-
"seg_l1": 0.0032212845981121063,
|
| 176 |
-
"seg_ssim_ref": 0.9857923984527588,
|
| 177 |
-
"depth": 0.0004133139927545564,
|
| 178 |
-
"rgb_loss": 0.0051570371724665165,
|
| 179 |
-
"seg_loss": 0.005418548360466957,
|
| 180 |
-
"total": 0.010575998381264941,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004133139927545564,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016517271671288983
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002473734552040696,
|
| 207 |
-
"ssim_fused": 0.9864704608917236,
|
| 208 |
-
"seg_l1": 0.0023164262529462576,
|
| 209 |
-
"seg_ssim_ref": 0.9864701628684998,
|
| 210 |
-
"depth": 0.0003228275698193141,
|
| 211 |
-
"rgb_loss": 0.004684895277023315,
|
| 212 |
-
"seg_loss": 0.004559108521789312,
|
| 213 |
-
"total": 0.009244327092043734,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003228275698193141,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.0904826763758555e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004864124581217766,
|
| 240 |
-
"ssim_fused": 0.977173924446106,
|
| 241 |
-
"seg_l1": 0.004590807948261499,
|
| 242 |
-
"seg_ssim_ref": 0.9771735668182373,
|
| 243 |
-
"depth": 0.00012018488471085824,
|
| 244 |
-
"rgb_loss": 0.008456515148282051,
|
| 245 |
-
"seg_loss": 0.008237933740019798,
|
| 246 |
-
"total": 0.01669456907318656,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012018488471085824,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012018488471085824
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 473,
|
| 281 |
-
"adam_update_count": 45408
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1432074579934124
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_ee289a5a2b8b49f889cb5dc05d6df8fb_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 474,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45409,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 473,
|
| 300 |
-
"trained_intervals": 45408,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45408,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4206533432006836,
|
| 333 |
-
"median": 11.515494346618652,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4712044894695282,
|
| 340 |
-
"median": 0.4712044894695282,
|
| 341 |
-
"max": 0.4712044894695282,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4756028950214386,
|
| 354 |
-
"median": 9.24170207977295,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08886353671550751,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.6089839935302734,
|
| 382 |
-
"median": 10318.5869140625,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4712044894695282,
|
| 403 |
-
"median": 0.4712044894695282,
|
| 404 |
-
"max": 0.4712044894695282,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5713,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0474.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0474",
|
| 5 |
-
"executed_epochs": 474,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_5ccf5440cfa049b59746e30536d3d38a.npz",
|
| 37 |
-
"optimizer_file": "boundary_5ccf5440cfa049b59746e30536d3d38a_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "10baacb3e7f449728444c83f546a8f0537a3d618e31fd69490a05e7d52e6a027",
|
| 39 |
-
"optimizer_sha256": "9565a750209a3f697ce819aad9b6a8bb383e91e5d3adb3ba8dd8374b5ff310be",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 474,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45504,
|
| 45 |
-
"adam_update_count": 45504,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 475,
|
| 49 |
-
"consumed_count": 474,
|
| 50 |
-
"last_submitted_update": 45504,
|
| 51 |
-
"last_consumed_update": 45408,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45504,
|
| 56 |
-
"completed_passes": 474,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45504,
|
| 59 |
-
"snapshot": "pass_end_0474",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 474,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45504,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45504,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.464172424282879e-05,
|
| 83 |
-
"update_l2": 0.02448248118162155
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0026253212708979845,
|
| 87 |
-
"update_l2": 0.0007290542125701904
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1080567674071062e-05,
|
| 95 |
-
"update_l2": 0.00923329871147871
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012921382191073937,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5716,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4703258275985718,
|
| 114 |
-
"ground_friction/effective": 0.4703258275985718,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012921382191073937,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003648224985226989,
|
| 129 |
-
"ssim_fused": 0.9822643399238586,
|
| 130 |
-
"seg_l1": 0.0036352411843836308,
|
| 131 |
-
"seg_ssim_ref": 0.9822642803192139,
|
| 132 |
-
"depth": 0.0003331643015560177,
|
| 133 |
-
"rgb_loss": 0.006465712562203407,
|
| 134 |
-
"seg_loss": 0.0064553371630609035,
|
| 135 |
-
"total": 0.012921382191073937
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004370437003672123,
|
| 141 |
-
"ssim_fused": 0.9795855283737183,
|
| 142 |
-
"seg_l1": 0.004424104932695627,
|
| 143 |
-
"seg_ssim_ref": 0.9795858860015869,
|
| 144 |
-
"depth": 0.00047713434075315794,
|
| 145 |
-
"rgb_loss": 0.007579243741929531,
|
| 146 |
-
"seg_loss": 0.007622106932103634,
|
| 147 |
-
"total": 0.015201827808373918,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047713434075315794,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001024066931837135
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028922962956130505,
|
| 174 |
-
"ssim_fused": 0.9857972264289856,
|
| 175 |
-
"seg_l1": 0.00321851740591228,
|
| 176 |
-
"seg_ssim_ref": 0.9857971668243408,
|
| 177 |
-
"depth": 0.000413877122480319,
|
| 178 |
-
"rgb_loss": 0.005154391750693321,
|
| 179 |
-
"seg_loss": 0.00541538093239069,
|
| 180 |
-
"total": 0.010570186560206491,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.000413877122480319,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016573584643865235
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024702257942408323,
|
| 207 |
-
"ssim_fused": 0.9864907264709473,
|
| 208 |
-
"seg_l1": 0.0023114767391234636,
|
| 209 |
-
"seg_ssim_ref": 0.9864905476570129,
|
| 210 |
-
"depth": 0.0003215734522029136,
|
| 211 |
-
"rgb_loss": 0.004678035154938698,
|
| 212 |
-
"seg_loss": 0.004551071673631668,
|
| 213 |
-
"total": 0.00922942840202257,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003215734522029136,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.9650709147358024e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004859941080212593,
|
| 240 |
-
"ssim_fused": 0.9771838784217834,
|
| 241 |
-
"seg_l1": 0.004586866125464439,
|
| 242 |
-
"seg_ssim_ref": 0.9771835207939148,
|
| 243 |
-
"depth": 0.00012007229078768027,
|
| 244 |
-
"rgb_loss": 0.00845117773860693,
|
| 245 |
-
"seg_loss": 0.008232789114117622,
|
| 246 |
-
"total": 0.016684085993692765,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012007229078768027,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012007229078768027
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 474,
|
| 281 |
-
"adam_update_count": 45504
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13784775699605234
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_5ccf5440cfa049b59746e30536d3d38a_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 475,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45505,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 474,
|
| 300 |
-
"trained_intervals": 45504,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45504,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4257993698120117,
|
| 333 |
-
"median": 11.515496253967285,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47105488181114197,
|
| 340 |
-
"median": 0.47105488181114197,
|
| 341 |
-
"max": 0.47105488181114197,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.47153452038764954,
|
| 354 |
-
"median": 9.241883277893066,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08840741962194443,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.6024513244628906,
|
| 382 |
-
"median": 10320.45703125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47105488181114197,
|
| 403 |
-
"median": 0.47105488181114197,
|
| 404 |
-
"max": 0.47105488181114197,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5716,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0475.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0475",
|
| 5 |
-
"executed_epochs": 475,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_a74f9f7b384a480581688ac9e0fd29d9.npz",
|
| 37 |
-
"optimizer_file": "boundary_a74f9f7b384a480581688ac9e0fd29d9_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "eb4f3550e2edbd86adb67e90c1e32751fc12164aca2c047d16b5e28aa269d12b",
|
| 39 |
-
"optimizer_sha256": "3c56536b56a10d83e1b11f865fbabc26dc649a648c8d89009333ed26b8baa6a3",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 475,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45600,
|
| 45 |
-
"adam_update_count": 45600,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 476,
|
| 49 |
-
"consumed_count": 475,
|
| 50 |
-
"last_submitted_update": 45600,
|
| 51 |
-
"last_consumed_update": 45504,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45600,
|
| 56 |
-
"completed_passes": 475,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45600,
|
| 59 |
-
"snapshot": "pass_end_0475",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 475,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45600,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45600,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.46019247546792e-05,
|
| 83 |
-
"update_l2": 0.024202223867177963
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002565963426604867,
|
| 87 |
-
"update_l2": 0.000712960958480835
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1002215615008026e-05,
|
| 95 |
-
"update_l2": 0.008824750781059265
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.01291154945444947,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5717,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47009536623954773,
|
| 114 |
-
"ground_friction/effective": 0.47009536623954773,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.01291154945444947,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036453870125114918,
|
| 129 |
-
"ssim_fused": 0.9822748899459839,
|
| 130 |
-
"seg_l1": 0.003631056286394596,
|
| 131 |
-
"seg_ssim_ref": 0.9822747707366943,
|
| 132 |
-
"depth": 0.00033309858923732667,
|
| 133 |
-
"rgb_loss": 0.00646133441478014,
|
| 134 |
-
"seg_loss": 0.006449881941080093,
|
| 135 |
-
"total": 0.01291154945444947
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004366832785308361,
|
| 141 |
-
"ssim_fused": 0.9795967936515808,
|
| 142 |
-
"seg_l1": 0.0044184462167322636,
|
| 143 |
-
"seg_ssim_ref": 0.9795971512794495,
|
| 144 |
-
"depth": 0.000477040402615029,
|
| 145 |
-
"rgb_loss": 0.007574107497930527,
|
| 146 |
-
"seg_loss": 0.007615326903760433,
|
| 147 |
-
"total": 0.015189911442093576,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.000477040402615029,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010231275504558452
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002888682996854186,
|
| 174 |
-
"ssim_fused": 0.9858084917068481,
|
| 175 |
-
"seg_l1": 0.003213343909010291,
|
| 176 |
-
"seg_ssim_ref": 0.9858083724975586,
|
| 177 |
-
"depth": 0.00041382075722898483,
|
| 178 |
-
"rgb_loss": 0.00514924805611372,
|
| 179 |
-
"seg_loss": 0.005409000441431999,
|
| 180 |
-
"total": 0.010558662318302948,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041382075722898483,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001656794811873182
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024671682622283697,
|
| 207 |
-
"ssim_fused": 0.9865078926086426,
|
| 208 |
-
"seg_l1": 0.002306769834831357,
|
| 209 |
-
"seg_ssim_ref": 0.9865077137947083,
|
| 210 |
-
"depth": 0.0003215106068016029,
|
| 211 |
-
"rgb_loss": 0.004672156181186438,
|
| 212 |
-
"seg_loss": 0.004543873481452465,
|
| 213 |
-
"total": 0.009216350707584416,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003215106068016029,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.958786374604734e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.00485886400565505,
|
| 240 |
-
"ssim_fused": 0.9771863222122192,
|
| 241 |
-
"seg_l1": 0.00458566565066576,
|
| 242 |
-
"seg_ssim_ref": 0.9771860241889954,
|
| 243 |
-
"depth": 0.00012002259030369005,
|
| 244 |
-
"rgb_loss": 0.008449826389551163,
|
| 245 |
-
"seg_loss": 0.00823132786899805,
|
| 246 |
-
"total": 0.016681273349816943,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012002259030369005,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012002259030369007
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 475,
|
| 281 |
-
"adam_update_count": 45600
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.14192762298625894
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_a74f9f7b384a480581688ac9e0fd29d9_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 476,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45601,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 475,
|
| 300 |
-
"trained_intervals": 45600,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45600,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4308934211730957,
|
| 333 |
-
"median": 11.515496253967285,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47080832719802856,
|
| 340 |
-
"median": 0.47080832719802856,
|
| 341 |
-
"max": 0.47080832719802856,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4678088128566742,
|
| 354 |
-
"median": 9.243719100952148,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0879582092165947,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5964921712875366,
|
| 382 |
-
"median": 10339.419921875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47080832719802856,
|
| 403 |
-
"median": 0.47080832719802856,
|
| 404 |
-
"max": 0.47080832719802856,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5717,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0476.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0476",
|
| 5 |
-
"executed_epochs": 476,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_4b9ab833a7314024b7dba9865da7e2ee.npz",
|
| 37 |
-
"optimizer_file": "boundary_4b9ab833a7314024b7dba9865da7e2ee_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "a57f6eecd7c52aa4489e640c6d870c68707c46245137161794e6146ea5670fbf",
|
| 39 |
-
"optimizer_sha256": "7362d23ea53bf1c14983587c9e02711744676aa2a3284bfdad11af20cb2587f7",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 476,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45696,
|
| 45 |
-
"adam_update_count": 45696,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 477,
|
| 49 |
-
"consumed_count": 476,
|
| 50 |
-
"last_submitted_update": 45696,
|
| 51 |
-
"last_consumed_update": 45600,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45696,
|
| 56 |
-
"completed_passes": 476,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45696,
|
| 59 |
-
"snapshot": "pass_end_0476",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 476,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45696,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45696,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.585440082242712e-05,
|
| 83 |
-
"update_l2": 0.024884529411792755
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002761001931503415,
|
| 87 |
-
"update_l2": 0.000751197338104248
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1271479706920218e-05,
|
| 95 |
-
"update_l2": 0.009814102202653885
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012909887075269546,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5718,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47035738825798035,
|
| 114 |
-
"ground_friction/effective": 0.47035738825798035,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012909887075269546,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036454228684306145,
|
| 129 |
-
"ssim_fused": 0.9822777509689331,
|
| 130 |
-
"seg_l1": 0.003630376420915127,
|
| 131 |
-
"seg_ssim_ref": 0.9822776317596436,
|
| 132 |
-
"depth": 0.0003326645437128739,
|
| 133 |
-
"rgb_loss": 0.006460788194090128,
|
| 134 |
-
"seg_loss": 0.006448766216635704,
|
| 135 |
-
"total": 0.012909887075269546
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004365423694252968,
|
| 141 |
-
"ssim_fused": 0.9796058535575867,
|
| 142 |
-
"seg_l1": 0.004418862052261829,
|
| 143 |
-
"seg_ssim_ref": 0.9796062111854553,
|
| 144 |
-
"depth": 0.0004770179374880779,
|
| 145 |
-
"rgb_loss": 0.00757116824388504,
|
| 146 |
-
"seg_loss": 0.007613847963511944,
|
| 147 |
-
"total": 0.015185493225334473,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004770179374880779,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001022902899186334
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028842471074312925,
|
| 174 |
-
"ssim_fused": 0.985826849937439,
|
| 175 |
-
"seg_l1": 0.0032059447839856148,
|
| 176 |
-
"seg_ssim_ref": 0.9858267307281494,
|
| 177 |
-
"depth": 0.0004139242536662562,
|
| 178 |
-
"rgb_loss": 0.005142027512192726,
|
| 179 |
-
"seg_loss": 0.005399409681558609,
|
| 180 |
-
"total": 0.010541851118005001,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004139242536662562,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001657829776245896
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002468397608026862,
|
| 207 |
-
"ssim_fused": 0.9864981174468994,
|
| 208 |
-
"seg_l1": 0.002307284390553832,
|
| 209 |
-
"seg_ssim_ref": 0.9864979386329651,
|
| 210 |
-
"depth": 0.00032050025565187547,
|
| 211 |
-
"rgb_loss": 0.004675094969570637,
|
| 212 |
-
"seg_loss": 0.004546239972114563,
|
| 213 |
-
"total": 0.009221655441940852,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032050025565187547,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.857751259631986e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004863622132688761,
|
| 240 |
-
"ssim_fused": 0.9771801829338074,
|
| 241 |
-
"seg_l1": 0.004589414689689875,
|
| 242 |
-
"seg_ssim_ref": 0.9771798253059387,
|
| 243 |
-
"depth": 0.00011921572804528597,
|
| 244 |
-
"rgb_loss": 0.008454861119389534,
|
| 245 |
-
"seg_loss": 0.0082355672493577,
|
| 246 |
-
"total": 0.016690548515797855,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011921572804528597,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011921572804528597
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 476,
|
| 281 |
-
"adam_update_count": 45696
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.14035577198956162
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_4b9ab833a7314024b7dba9865da7e2ee_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 477,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45697,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 476,
|
| 300 |
-
"trained_intervals": 45696,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45696,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4359562397003174,
|
| 333 |
-
"median": 11.515496253967285,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4711085855960846,
|
| 340 |
-
"median": 0.4711085855960846,
|
| 341 |
-
"max": 0.4711085855960846,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4639591574668884,
|
| 354 |
-
"median": 9.243974685668945,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08751402050256729,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.590358018875122,
|
| 382 |
-
"median": 10342.0634765625,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4711085855960846,
|
| 403 |
-
"median": 0.4711085855960846,
|
| 404 |
-
"max": 0.4711085855960846,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5718,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0477.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0477",
|
| 5 |
-
"executed_epochs": 477,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_6ca59ed543ab44c0a7f6d4fb6e41c403.npz",
|
| 37 |
-
"optimizer_file": "boundary_6ca59ed543ab44c0a7f6d4fb6e41c403_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "de3dd3e28db13eabc8b698cbb50c35708e92f3503724856b3f253ae60e3e16d1",
|
| 39 |
-
"optimizer_sha256": "52082420d9a3dedae8540c0bd053c295e5a51dc51e4f953b34e7056f35a88223",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 477,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45792,
|
| 45 |
-
"adam_update_count": 45792,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 478,
|
| 49 |
-
"consumed_count": 477,
|
| 50 |
-
"last_submitted_update": 45792,
|
| 51 |
-
"last_consumed_update": 45696,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45792,
|
| 56 |
-
"completed_passes": 477,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45792,
|
| 59 |
-
"snapshot": "pass_end_0477",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 477,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45792,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45792,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.480651740683243e-05,
|
| 83 |
-
"update_l2": 0.024599432945251465
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0026963097043335438,
|
| 87 |
-
"update_l2": 0.0007295906543731689
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1179749890288804e-05,
|
| 95 |
-
"update_l2": 0.009272722527384758
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012894587883454545,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5719,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.46993106603622437,
|
| 114 |
-
"ground_friction/effective": 0.46993106603622437,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012894587883454545,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003641064278781414,
|
| 129 |
-
"ssim_fused": 0.9822949767112732,
|
| 130 |
-
"seg_l1": 0.0036242210771888494,
|
| 131 |
-
"seg_ssim_ref": 0.9822949171066284,
|
| 132 |
-
"depth": 0.0003320758312780203,
|
| 133 |
-
"rgb_loss": 0.006453859154134989,
|
| 134 |
-
"seg_loss": 0.006440396420657635,
|
| 135 |
-
"total": 0.012894587883454545
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004359721671789885,
|
| 141 |
-
"ssim_fused": 0.9796252846717834,
|
| 142 |
-
"seg_l1": 0.004410579800605774,
|
| 143 |
-
"seg_ssim_ref": 0.9796256422996521,
|
| 144 |
-
"depth": 0.0004768664496027244,
|
| 145 |
-
"rgb_loss": 0.007562720682471991,
|
| 146 |
-
"seg_loss": 0.007603335194289684,
|
| 147 |
-
"total": 0.01516653227754999,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004768664496027244,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010213880203327992
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028775257524102926,
|
| 174 |
-
"ssim_fused": 0.985849142074585,
|
| 175 |
-
"seg_l1": 0.0031958718318492174,
|
| 176 |
-
"seg_ssim_ref": 0.9858490824699402,
|
| 177 |
-
"depth": 0.00041141613253547517,
|
| 178 |
-
"rgb_loss": 0.005132192280143499,
|
| 179 |
-
"seg_loss": 0.005386881064623594,
|
| 180 |
-
"total": 0.010519484760899629,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041141613253547517,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016327485649380858
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002464287681505084,
|
| 207 |
-
"ssim_fused": 0.9865208864212036,
|
| 208 |
-
"seg_l1": 0.0023008401039987803,
|
| 209 |
-
"seg_ssim_ref": 0.9865207076072693,
|
| 210 |
-
"depth": 0.0003204249675331326,
|
| 211 |
-
"rgb_loss": 0.004667253233492374,
|
| 212 |
-
"seg_loss": 0.004536530468612909,
|
| 213 |
-
"total": 0.009204104592734104,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003204249675331326,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.850222447757704e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004862721543759108,
|
| 240 |
-
"ssim_fused": 0.977184534072876,
|
| 241 |
-
"seg_l1": 0.0045895930379629135,
|
| 242 |
-
"seg_ssim_ref": 0.9771841764450073,
|
| 243 |
-
"depth": 0.00011959577544074917,
|
| 244 |
-
"rgb_loss": 0.00845327042043209,
|
| 245 |
-
"seg_loss": 0.008234839886426926,
|
| 246 |
-
"total": 0.016688229902634456,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011959577544074917,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011959577544074917
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 477,
|
| 281 |
-
"adam_update_count": 45792
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13915073600946926
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_6ca59ed543ab44c0a7f6d4fb6e41c403_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 478,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45793,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 477,
|
| 300 |
-
"trained_intervals": 45792,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45792,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.440890073776245,
|
| 333 |
-
"median": 11.515497207641602,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47066065669059753,
|
| 340 |
-
"median": 0.47066065669059753,
|
| 341 |
-
"max": 0.47066065669059753,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4601150453090668,
|
| 354 |
-
"median": 9.241450309753418,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08708330243825912,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5842561721801758,
|
| 382 |
-
"median": 10315.9892578125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47066065669059753,
|
| 403 |
-
"median": 0.47066065669059753,
|
| 404 |
-
"max": 0.47066065669059753,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5719,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0478.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0478",
|
| 5 |
-
"executed_epochs": 478,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_24b7598d42fe4176ba75996dbb483ff1.npz",
|
| 37 |
-
"optimizer_file": "boundary_24b7598d42fe4176ba75996dbb483ff1_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "c64af736c6d12fde19ceb7002795c9e6ec860400b942d2168c12fe2ea711236d",
|
| 39 |
-
"optimizer_sha256": "2a52c3d5161fc07995f76792bacbc6f8cc1d266237e085e5273c13554b3745bf",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 478,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45888,
|
| 45 |
-
"adam_update_count": 45888,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 479,
|
| 49 |
-
"consumed_count": 478,
|
| 50 |
-
"last_submitted_update": 45888,
|
| 51 |
-
"last_consumed_update": 45792,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45888,
|
| 56 |
-
"completed_passes": 478,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45888,
|
| 59 |
-
"snapshot": "pass_end_0478",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 478,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45888,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45888,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.504150900989771e-05,
|
| 83 |
-
"update_l2": 0.024274790659546852
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002627292647957802,
|
| 87 |
-
"update_l2": 0.0007171034812927246
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1160655958519783e-05,
|
| 95 |
-
"update_l2": 0.009132180362939835
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012901193503844149,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5719,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4700314998626709,
|
| 114 |
-
"ground_friction/effective": 0.4700314998626709,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012901193503844149,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003642769530415535,
|
| 129 |
-
"ssim_fused": 0.9822878837585449,
|
| 130 |
-
"seg_l1": 0.0036272378638386726,
|
| 131 |
-
"seg_ssim_ref": 0.9822878241539001,
|
| 132 |
-
"depth": 0.00033229086042200736,
|
| 133 |
-
"rgb_loss": 0.006456638686358929,
|
| 134 |
-
"seg_loss": 0.006444222293794155,
|
| 135 |
-
"total": 0.012901193503844149
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004360987339168787,
|
| 141 |
-
"ssim_fused": 0.9796228408813477,
|
| 142 |
-
"seg_l1": 0.004412929527461529,
|
| 143 |
-
"seg_ssim_ref": 0.9796231985092163,
|
| 144 |
-
"depth": 0.00047693967092756395,
|
| 145 |
-
"rgb_loss": 0.007564221508800983,
|
| 146 |
-
"seg_loss": 0.007605704478919506,
|
| 147 |
-
"total": 0.015170402927391417,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047693967092756395,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010221202335811946
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028824512846767902,
|
| 174 |
-
"ssim_fused": 0.9858316779136658,
|
| 175 |
-
"seg_l1": 0.003203414846211672,
|
| 176 |
-
"seg_ssim_ref": 0.985831618309021,
|
| 177 |
-
"depth": 0.0004112904274991405,
|
| 178 |
-
"rgb_loss": 0.005139625631272793,
|
| 179 |
-
"seg_loss": 0.005396408028900623,
|
| 180 |
-
"total": 0.010536444950600915,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004112904274991405,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016314915145747386
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.00246572308242321,
|
| 207 |
-
"ssim_fused": 0.9865147471427917,
|
| 208 |
-
"seg_l1": 0.0023038156796246767,
|
| 209 |
-
"seg_ssim_ref": 0.9865145683288574,
|
| 210 |
-
"depth": 0.0003204315103675859,
|
| 211 |
-
"rgb_loss": 0.0046696290373802185,
|
| 212 |
-
"seg_loss": 0.004540138877928257,
|
| 213 |
-
"total": 0.009210088346818843,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003204315103675859,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.850876731203032e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004861915949732065,
|
| 240 |
-
"ssim_fused": 0.9771822690963745,
|
| 241 |
-
"seg_l1": 0.004588791634887457,
|
| 242 |
-
"seg_ssim_ref": 0.9771819710731506,
|
| 243 |
-
"depth": 0.00012050183289373912,
|
| 244 |
-
"rgb_loss": 0.00845307856798172,
|
| 245 |
-
"seg_loss": 0.008234638720750809,
|
| 246 |
-
"total": 0.016687837790565423,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012050183289373912,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012050183289373912
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 478,
|
| 281 |
-
"adam_update_count": 45888
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.15423575800377876
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_24b7598d42fe4176ba75996dbb483ff1_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 479,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45889,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 478,
|
| 300 |
-
"trained_intervals": 45888,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45888,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.445749044418335,
|
| 333 |
-
"median": 11.515497207641602,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4707486033439636,
|
| 340 |
-
"median": 0.4707486033439636,
|
| 341 |
-
"max": 0.4707486033439636,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4565984010696411,
|
| 354 |
-
"median": 9.236388206481934,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.086661197245121,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5786947011947632,
|
| 382 |
-
"median": 10263.900390625,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4707486033439636,
|
| 403 |
-
"median": 0.4707486033439636,
|
| 404 |
-
"max": 0.4707486033439636,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5719,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0479.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0479",
|
| 5 |
-
"executed_epochs": 479,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_b343a790ead34dc99b30a8d7f7975473.npz",
|
| 37 |
-
"optimizer_file": "boundary_b343a790ead34dc99b30a8d7f7975473_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "63b152f1aec189641cf2d2e00ea3f35667a71e3ea39580c81250d8240c143a6e",
|
| 39 |
-
"optimizer_sha256": "144edf444ca3e1b2568b97b07098021340635528ae23b695830b1f313d67fce8",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 479,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 45984,
|
| 45 |
-
"adam_update_count": 45984,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 480,
|
| 49 |
-
"consumed_count": 479,
|
| 50 |
-
"last_submitted_update": 45984,
|
| 51 |
-
"last_consumed_update": 45888,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 45984,
|
| 56 |
-
"completed_passes": 479,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 45984,
|
| 59 |
-
"snapshot": "pass_end_0479",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 479,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 45984,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 45984,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.479488315060735e-05,
|
| 83 |
-
"update_l2": 0.024645471945405006
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0026572237256914377,
|
| 87 |
-
"update_l2": 0.0007290244102478027
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.1149271813337691e-05,
|
| 95 |
-
"update_l2": 0.009538647718727589
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012916110898779705,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5719,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4700135290622711,
|
| 114 |
-
"ground_friction/effective": 0.4700135290622711,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012916110898779705,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036468796897679567,
|
| 129 |
-
"ssim_fused": 0.9822712540626526,
|
| 130 |
-
"seg_l1": 0.0036334579344838858,
|
| 131 |
-
"seg_ssim_ref": 0.9822711944580078,
|
| 132 |
-
"depth": 0.00033315777964844736,
|
| 133 |
-
"rgb_loss": 0.006463250145316124,
|
| 134 |
-
"seg_loss": 0.006452527828514576,
|
| 135 |
-
"total": 0.012916110898779705
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0043666479177773,
|
| 141 |
-
"ssim_fused": 0.9796039462089539,
|
| 142 |
-
"seg_l1": 0.004420656245201826,
|
| 143 |
-
"seg_ssim_ref": 0.9796042442321777,
|
| 144 |
-
"depth": 0.00047709068040829156,
|
| 145 |
-
"rgb_loss": 0.007572529371827841,
|
| 146 |
-
"seg_loss": 0.007615676149725914,
|
| 147 |
-
"total": 0.01518868307789545,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047709068040829156,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010236303283884707
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028894010465592146,
|
| 174 |
-
"ssim_fused": 0.9858089089393616,
|
| 175 |
-
"seg_l1": 0.0032136898953467607,
|
| 176 |
-
"seg_ssim_ref": 0.9858089089393616,
|
| 177 |
-
"depth": 0.000413863014610381,
|
| 178 |
-
"rgb_loss": 0.00514973932877183,
|
| 179 |
-
"seg_loss": 0.0054091704078018665,
|
| 180 |
-
"total": 0.010559323599588307,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.000413863014610381,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016572173856871435
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002470241626724601,
|
| 207 |
-
"ssim_fused": 0.9864895939826965,
|
| 208 |
-
"seg_l1": 0.002311291405931115,
|
| 209 |
-
"seg_ssim_ref": 0.9864893555641174,
|
| 210 |
-
"depth": 0.00032156554515240705,
|
| 211 |
-
"rgb_loss": 0.004678274504840374,
|
| 212 |
-
"seg_loss": 0.004551162011921406,
|
| 213 |
-
"total": 0.009229758082306931,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032156554515240705,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.964280209685149e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004861228168010712,
|
| 240 |
-
"ssim_fused": 0.9771826267242432,
|
| 241 |
-
"seg_l1": 0.004588194191455841,
|
| 242 |
-
"seg_ssim_ref": 0.9771822690963745,
|
| 243 |
-
"depth": 0.00012011187842270979,
|
| 244 |
-
"rgb_loss": 0.008452457375824451,
|
| 245 |
-
"seg_loss": 0.008234101347625256,
|
| 246 |
-
"total": 0.01668667883532813,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00012011187842270979,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00012011187842270979
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 479,
|
| 281 |
-
"adam_update_count": 45984
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13918925300822593
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_b343a790ead34dc99b30a8d7f7975473_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 480,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 45985,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 479,
|
| 300 |
-
"trained_intervals": 45984,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 45984,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.450789451599121,
|
| 333 |
-
"median": 11.515497207641602,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4707425534725189,
|
| 340 |
-
"median": 0.4707425534725189,
|
| 341 |
-
"max": 0.4707425534725189,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.45260855555534363,
|
| 354 |
-
"median": 9.233123779296875,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0862254947423935,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5724085569381714,
|
| 382 |
-
"median": 10230.44921875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4707425534725189,
|
| 403 |
-
"median": 0.4707425534725189,
|
| 404 |
-
"max": 0.4707425534725189,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5719,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0480.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0480",
|
| 5 |
-
"executed_epochs": 480,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_3b790602f2af4df7ae16493437296350.npz",
|
| 37 |
-
"optimizer_file": "boundary_3b790602f2af4df7ae16493437296350_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "0ad7b5cf3e5de8035e6a3184353873b6411a4b680b2846b12ff9ee8e4fa2b17d",
|
| 39 |
-
"optimizer_sha256": "a32153e08d3e74967acd0db738b3e77bdda6443e3bfd203ee90c3801bb731cae",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 480,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46080,
|
| 45 |
-
"adam_update_count": 46080,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 481,
|
| 49 |
-
"consumed_count": 480,
|
| 50 |
-
"last_submitted_update": 46080,
|
| 51 |
-
"last_consumed_update": 45984,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46080,
|
| 56 |
-
"completed_passes": 480,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46080,
|
| 59 |
-
"snapshot": "pass_end_0480",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 480,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46080,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46080,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.442971738986671e-05,
|
| 83 |
-
"update_l2": 0.02407652884721756
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002534101950004697,
|
| 87 |
-
"update_l2": 0.0007044970989227295
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0911908248090185e-05,
|
| 95 |
-
"update_l2": 0.009349636733531952
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012919327078063876,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5720,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.46989011764526367,
|
| 114 |
-
"ground_friction/effective": 0.46989011764526367,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012919327078063876,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003647417761385441,
|
| 129 |
-
"ssim_fused": 0.9822652339935303,
|
| 130 |
-
"seg_l1": 0.003633919171988964,
|
| 131 |
-
"seg_ssim_ref": 0.9822651147842407,
|
| 132 |
-
"depth": 0.0003330145523836837,
|
| 133 |
-
"rgb_loss": 0.006464884616434574,
|
| 134 |
-
"seg_loss": 0.006454109214246273,
|
| 135 |
-
"total": 0.012919327078063876
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004370164591819048,
|
| 141 |
-
"ssim_fused": 0.9795862436294556,
|
| 142 |
-
"seg_l1": 0.004423043690621853,
|
| 143 |
-
"seg_ssim_ref": 0.9795864820480347,
|
| 144 |
-
"depth": 0.0004771593077491142,
|
| 145 |
-
"rgb_loss": 0.007578883320093155,
|
| 146 |
-
"seg_loss": 0.007621138356626034,
|
| 147 |
-
"total": 0.015200498836026938,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004771593077491142,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010243166017966969
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002894938923418522,
|
| 174 |
-
"ssim_fused": 0.9857856631278992,
|
| 175 |
-
"seg_l1": 0.0032227174378931522,
|
| 176 |
-
"seg_ssim_ref": 0.9857856035232544,
|
| 177 |
-
"depth": 0.00041321947124424517,
|
| 178 |
-
"rgb_loss": 0.005158818792551756,
|
| 179 |
-
"seg_loss": 0.005421053618192673,
|
| 180 |
-
"total": 0.01058028609587696,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041321947124424517,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001650781952025785
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024709361605346203,
|
| 207 |
-
"ssim_fused": 0.9864914417266846,
|
| 208 |
-
"seg_l1": 0.0023110215552151203,
|
| 209 |
-
"seg_ssim_ref": 0.9864911437034607,
|
| 210 |
-
"depth": 0.0003225962623439004,
|
| 211 |
-
"rgb_loss": 0.004678460769355297,
|
| 212 |
-
"seg_loss": 0.004550588317215443,
|
| 213 |
-
"total": 0.009229371682833084,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003225962623439004,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.067351928834484e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004853630904108286,
|
| 240 |
-
"ssim_fused": 0.9771976470947266,
|
| 241 |
-
"seg_l1": 0.004578893538564444,
|
| 242 |
-
"seg_ssim_ref": 0.9771972894668579,
|
| 243 |
-
"depth": 0.00011908316819747495,
|
| 244 |
-
"rgb_loss": 0.008443375118076801,
|
| 245 |
-
"seg_loss": 0.008223657496273518,
|
| 246 |
-
"total": 0.016667151697518517,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011908316819747495,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011908316819747495
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 480,
|
| 281 |
-
"adam_update_count": 46080
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.14129086799221113
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_3b790602f2af4df7ae16493437296350_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 481,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46081,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 480,
|
| 300 |
-
"trained_intervals": 46080,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46080,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4558818340301514,
|
| 333 |
-
"median": 11.515497207641602,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4705946147441864,
|
| 340 |
-
"median": 0.4705946147441864,
|
| 341 |
-
"max": 0.4705946147441864,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4490513503551483,
|
| 354 |
-
"median": 9.23874282836914,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08578751236200333,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.566825032234192,
|
| 382 |
-
"median": 10288.0966796875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4705946147441864,
|
| 403 |
-
"median": 0.4705946147441864,
|
| 404 |
-
"max": 0.4705946147441864,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5720,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0481.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0481",
|
| 5 |
-
"executed_epochs": 481,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_f92bfdbe72984ba29a4a3fa588befc63.npz",
|
| 37 |
-
"optimizer_file": "boundary_f92bfdbe72984ba29a4a3fa588befc63_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "8813660d2e81b64ba71a7494f06c4cd93cd7b0b4cfe24a37da24ba7d0bdf9eda",
|
| 39 |
-
"optimizer_sha256": "0b4eea8b31894a4d314c28aa2a3af710d474ab210a7798564446bb06ca2cd329",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 481,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46176,
|
| 45 |
-
"adam_update_count": 46176,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 482,
|
| 49 |
-
"consumed_count": 481,
|
| 50 |
-
"last_submitted_update": 46176,
|
| 51 |
-
"last_consumed_update": 46080,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46176,
|
| 56 |
-
"completed_passes": 481,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46176,
|
| 59 |
-
"snapshot": "pass_end_0481",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 481,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46176,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46176,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.873572369338945e-05,
|
| 83 |
-
"update_l2": 0.02487313374876976
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002442009514197707,
|
| 87 |
-
"update_l2": 0.0007170140743255615
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0978629688906949e-05,
|
| 95 |
-
"update_l2": 0.008918347768485546
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.0133093503085397,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5722,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.470814049243927,
|
| 114 |
-
"ground_friction/effective": 0.470814049243927,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.0133093503085397,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003758522681891918,
|
| 129 |
-
"ssim_fused": 0.9818506836891174,
|
| 130 |
-
"seg_l1": 0.0038030578289180994,
|
| 131 |
-
"seg_ssim_ref": 0.9818506240844727,
|
| 132 |
-
"depth": 0.0003532753757948781,
|
| 133 |
-
"rgb_loss": 0.0066366782411932945,
|
| 134 |
-
"seg_loss": 0.006672319024801254,
|
| 135 |
-
"total": 0.0133093503085397
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004509455990046263,
|
| 141 |
-
"ssim_fused": 0.9790965914726257,
|
| 142 |
-
"seg_l1": 0.004607023671269417,
|
| 143 |
-
"seg_ssim_ref": 0.9790968298912048,
|
| 144 |
-
"depth": 0.00049046198157516,
|
| 145 |
-
"rgb_loss": 0.007788246497511864,
|
| 146 |
-
"seg_loss": 0.007866253145039082,
|
| 147 |
-
"total": 0.015654991035855097,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00049046198157516,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00011573433400571558
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0030890495982021093,
|
| 174 |
-
"ssim_fused": 0.985176682472229,
|
| 175 |
-
"seg_l1": 0.0035133124329149723,
|
| 176 |
-
"seg_ssim_ref": 0.985176682472229,
|
| 177 |
-
"depth": 0.00045251709636404304,
|
| 178 |
-
"rgb_loss": 0.0054359035566449165,
|
| 179 |
-
"seg_loss": 0.005775313824415207,
|
| 180 |
-
"total": 0.011211669898156487,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00045251709636404304,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00020437582032237635
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0025884550996124744,
|
| 207 |
-
"ssim_fused": 0.9859687685966492,
|
| 208 |
-
"seg_l1": 0.00250799348577857,
|
| 209 |
-
"seg_ssim_ref": 0.9859685897827148,
|
| 210 |
-
"depth": 0.00035304252474387685,
|
| 211 |
-
"rgb_loss": 0.004877010360360146,
|
| 212 |
-
"seg_loss": 0.004812676925212145,
|
| 213 |
-
"total": 0.009690039862435747,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00035304252474387685,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 8.111978168832128e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004847129341214895,
|
| 240 |
-
"ssim_fused": 0.9771607518196106,
|
| 241 |
-
"seg_l1": 0.004583901725709438,
|
| 242 |
-
"seg_ssim_ref": 0.9771604537963867,
|
| 243 |
-
"depth": 0.00011707990049643234,
|
| 244 |
-
"rgb_loss": 0.008445553481578827,
|
| 245 |
-
"seg_loss": 0.008235030807554722,
|
| 246 |
-
"total": 0.01668070043771147,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011707990049643234,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011707990049643234
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 481,
|
| 281 |
-
"adam_update_count": 46176
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1377656850090716
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_f92bfdbe72984ba29a4a3fa588befc63_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 482,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46177,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 481,
|
| 300 |
-
"trained_intervals": 46176,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46176,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.462639331817627,
|
| 333 |
-
"median": 11.515501022338867,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47153106331825256,
|
| 340 |
-
"median": 0.47153106331825256,
|
| 341 |
-
"max": 0.47153106331825256,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.44497716426849365,
|
| 354 |
-
"median": 9.231825828552246,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08520975708961487,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5604546070098877,
|
| 382 |
-
"median": 10217.1787109375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47153106331825256,
|
| 403 |
-
"median": 0.47153106331825256,
|
| 404 |
-
"max": 0.47153106331825256,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5722,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0482.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0482",
|
| 5 |
-
"executed_epochs": 482,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_8d28914bc0084b58bafb8860e6a4ab6e.npz",
|
| 37 |
-
"optimizer_file": "boundary_8d28914bc0084b58bafb8860e6a4ab6e_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "5a804178f9f355dbc351eb8e6d96e3c36ff65267aa54bed4a6146a8556254856",
|
| 39 |
-
"optimizer_sha256": "03884240de92e24dd8799080412683cffcfc5b98a9790b5d4b9b404ff150d7b5",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 482,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46272,
|
| 45 |
-
"adam_update_count": 46272,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 483,
|
| 49 |
-
"consumed_count": 482,
|
| 50 |
-
"last_submitted_update": 46272,
|
| 51 |
-
"last_consumed_update": 46176,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46272,
|
| 56 |
-
"completed_passes": 482,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46272,
|
| 59 |
-
"snapshot": "pass_end_0482",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 482,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46272,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46272,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.353398879989982e-05,
|
| 83 |
-
"update_l2": 0.02481038309633732
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002875510836020112,
|
| 87 |
-
"update_l2": 0.0007513463497161865
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0804686098708771e-05,
|
| 95 |
-
"update_l2": 0.007999523542821407
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012911431335401628,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5723,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47016581892967224,
|
| 114 |
-
"ground_friction/effective": 0.47016581892967224,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012911431335401628,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003645267803221941,
|
| 129 |
-
"ssim_fused": 0.982270359992981,
|
| 130 |
-
"seg_l1": 0.00362875172868371,
|
| 131 |
-
"seg_ssim_ref": 0.9822702407836914,
|
| 132 |
-
"depth": 0.00033255901644025775,
|
| 133 |
-
"rgb_loss": 0.006462151184678078,
|
| 134 |
-
"seg_loss": 0.0064489468932151794,
|
| 135 |
-
"total": 0.012911431335401628
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004378726705908775,
|
| 141 |
-
"ssim_fused": 0.9795491695404053,
|
| 142 |
-
"seg_l1": 0.0044308435171842575,
|
| 143 |
-
"seg_ssim_ref": 0.9795495271682739,
|
| 144 |
-
"depth": 0.00047718851168717573,
|
| 145 |
-
"rgb_loss": 0.007593147456645966,
|
| 146 |
-
"seg_loss": 0.007634769193828106,
|
| 147 |
-
"total": 0.015228393838985759,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047718851168717573,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010246086411773125
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028921603225171566,
|
| 174 |
-
"ssim_fused": 0.9857901334762573,
|
| 175 |
-
"seg_l1": 0.0032198859844356775,
|
| 176 |
-
"seg_ssim_ref": 0.9857901334762573,
|
| 177 |
-
"depth": 0.0004145352676904038,
|
| 178 |
-
"rgb_loss": 0.005155701655894518,
|
| 179 |
-
"seg_loss": 0.005417882464826107,
|
| 180 |
-
"total": 0.010573999121649602,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004145352676904038,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016639399164873717
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024675496388226748,
|
| 207 |
-
"ssim_fused": 0.9865067005157471,
|
| 208 |
-
"seg_l1": 0.002304324647411704,
|
| 209 |
-
"seg_ssim_ref": 0.9865065217018127,
|
| 210 |
-
"depth": 0.0003222124017154176,
|
| 211 |
-
"rgb_loss": 0.004672699607908726,
|
| 212 |
-
"seg_loss": 0.004542155656963587,
|
| 213 |
-
"total": 0.009215177942935315,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003222124017154176,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.028965865986205e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004842634778469801,
|
| 240 |
-
"ssim_fused": 0.9772352576255798,
|
| 241 |
-
"seg_l1": 0.004559952300041914,
|
| 242 |
-
"seg_ssim_ref": 0.9772348999977112,
|
| 243 |
-
"depth": 0.00011629988466803397,
|
| 244 |
-
"rgb_loss": 0.008427056483924389,
|
| 245 |
-
"seg_loss": 0.00820098165422678,
|
| 246 |
-
"total": 0.016628154438035836,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011629988466803397,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011629988466803397
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 482,
|
| 281 |
-
"adam_update_count": 46272
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13529369101161137
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_8d28914bc0084b58bafb8860e6a4ab6e_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 483,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46273,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 482,
|
| 300 |
-
"trained_intervals": 46272,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46272,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.468597888946533,
|
| 333 |
-
"median": 11.5155029296875,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4709171652793884,
|
| 340 |
-
"median": 0.4709171652793884,
|
| 341 |
-
"max": 0.4709171652793884,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.44192057847976685,
|
| 354 |
-
"median": 9.230414390563965,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08470353484153748,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.555692195892334,
|
| 382 |
-
"median": 10202.7685546875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4709171652793884,
|
| 403 |
-
"median": 0.4709171652793884,
|
| 404 |
-
"max": 0.4709171652793884,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5723,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0483.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0483",
|
| 5 |
-
"executed_epochs": 483,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_70106b8a8ac64bf49f1bf096dbf12f58.npz",
|
| 37 |
-
"optimizer_file": "boundary_70106b8a8ac64bf49f1bf096dbf12f58_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "3e89eaa73e194dcbc52a27b2c45993bf4b1cca06bdf4dc95bad0ed450f6b22c9",
|
| 39 |
-
"optimizer_sha256": "81e2020c75a99817a429e3b5ec27029c3782da182021fff7b963bca51e2dc34b",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 483,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46368,
|
| 45 |
-
"adam_update_count": 46368,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 484,
|
| 49 |
-
"consumed_count": 483,
|
| 50 |
-
"last_submitted_update": 46368,
|
| 51 |
-
"last_consumed_update": 46272,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46368,
|
| 56 |
-
"completed_passes": 483,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46368,
|
| 59 |
-
"snapshot": "pass_end_0483",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 483,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46368,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46368,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.421763050137088e-05,
|
| 83 |
-
"update_l2": 0.024927236139774323
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0028618588112294674,
|
| 87 |
-
"update_l2": 0.0007595419883728027
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0885039046115708e-05,
|
| 95 |
-
"update_l2": 0.008779756724834442
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012925136856490603,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5723,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4707249104976654,
|
| 114 |
-
"ground_friction/effective": 0.4707249104976654,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012925136856490603,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003649225691333413,
|
| 129 |
-
"ssim_fused": 0.9822562336921692,
|
| 130 |
-
"seg_l1": 0.0036348477005958557,
|
| 131 |
-
"seg_ssim_ref": 0.9822560548782349,
|
| 132 |
-
"depth": 0.0003329699280167309,
|
| 133 |
-
"rgb_loss": 0.006468136794865131,
|
| 134 |
-
"seg_loss": 0.0064566670916974545,
|
| 135 |
-
"total": 0.012925136856490603
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004383036866784096,
|
| 141 |
-
"ssim_fused": 0.9795352220535278,
|
| 142 |
-
"seg_l1": 0.00443774601444602,
|
| 143 |
-
"seg_ssim_ref": 0.9795354008674622,
|
| 144 |
-
"depth": 0.0004777351684407849,
|
| 145 |
-
"rgb_loss": 0.007599384989589453,
|
| 146 |
-
"seg_loss": 0.0076431166380643845,
|
| 147 |
-
"total": 0.015242979828483565,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004777351684407849,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001030075208713404
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028989887796342373,
|
| 174 |
-
"ssim_fused": 0.9857667088508606,
|
| 175 |
-
"seg_l1": 0.003230451140552759,
|
| 176 |
-
"seg_ssim_ref": 0.9857665300369263,
|
| 177 |
-
"depth": 0.00041457856037498787,
|
| 178 |
-
"rgb_loss": 0.005165849346667528,
|
| 179 |
-
"seg_loss": 0.005431055091321468,
|
| 180 |
-
"total": 0.01059731948221066,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041457856037498787,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001664372843333212
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024710092693567276,
|
| 207 |
-
"ssim_fused": 0.9864893555641174,
|
| 208 |
-
"seg_l1": 0.0023102741688489914,
|
| 209 |
-
"seg_ssim_ref": 0.9864890575408936,
|
| 210 |
-
"depth": 0.0003232133948127738,
|
| 211 |
-
"rgb_loss": 0.004678936209529638,
|
| 212 |
-
"seg_loss": 0.004550407640635967,
|
| 213 |
-
"total": 0.00922966659789913,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003232133948127738,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.129065175721826e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.0048438673838973045,
|
| 240 |
-
"ssim_fused": 0.9772335886955261,
|
| 241 |
-
"seg_l1": 0.004560919478535652,
|
| 242 |
-
"seg_ssim_ref": 0.9772332310676575,
|
| 243 |
-
"depth": 0.0001163525884383772,
|
| 244 |
-
"rgb_loss": 0.008428376168012619,
|
| 245 |
-
"seg_loss": 0.008202088996767998,
|
| 246 |
-
"total": 0.016630581517369056,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.0001163525884383772,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.0001163525884383772
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 483,
|
| 281 |
-
"adam_update_count": 46368
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13494124700082466
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_70106b8a8ac64bf49f1bf096dbf12f58_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 484,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46369,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 483,
|
| 300 |
-
"trained_intervals": 46368,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46368,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.474057912826538,
|
| 333 |
-
"median": 11.5155029296875,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4714844524860382,
|
| 340 |
-
"median": 0.4714844524860382,
|
| 341 |
-
"max": 0.4714844524860382,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4383394122123718,
|
| 354 |
-
"median": 9.230325698852539,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0842423215508461,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5501309633255005,
|
| 382 |
-
"median": 10201.86328125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4714844524860382,
|
| 403 |
-
"median": 0.4714844524860382,
|
| 404 |
-
"max": 0.4714844524860382,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5723,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0484.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0484",
|
| 5 |
-
"executed_epochs": 484,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_6472277a463241afb94634aad39d2c6a.npz",
|
| 37 |
-
"optimizer_file": "boundary_6472277a463241afb94634aad39d2c6a_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "9b82c2eec0e8750c7e94ca4431c0afa8713f00b990cd263d7d8323a1c93e930d",
|
| 39 |
-
"optimizer_sha256": "ad5558e5283e2e6f13400fee4ac91ddf06424b98c59faed92a5dff9283abb7d3",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 484,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46464,
|
| 45 |
-
"adam_update_count": 46464,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 485,
|
| 49 |
-
"consumed_count": 484,
|
| 50 |
-
"last_submitted_update": 46464,
|
| 51 |
-
"last_consumed_update": 46368,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46464,
|
| 56 |
-
"completed_passes": 484,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46464,
|
| 59 |
-
"snapshot": "pass_end_0484",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 484,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46464,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46464,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.468412852380425e-05,
|
| 83 |
-
"update_l2": 0.02484678104519844
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0028261211700737476,
|
| 87 |
-
"update_l2": 0.0007585883140563965
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0976744306390174e-05,
|
| 95 |
-
"update_l2": 0.009842976927757263
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012933062136444167,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5725,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4707406759262085,
|
| 114 |
-
"ground_friction/effective": 0.4707406759262085,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012933062136444167,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003651023842394352,
|
| 129 |
-
"ssim_fused": 0.9822478890419006,
|
| 130 |
-
"seg_l1": 0.003638812806457281,
|
| 131 |
-
"seg_ssim_ref": 0.9822478294372559,
|
| 132 |
-
"depth": 0.00033316043289177797,
|
| 133 |
-
"rgb_loss": 0.006471244152635336,
|
| 134 |
-
"seg_loss": 0.006461484357714653,
|
| 135 |
-
"total": 0.012933062136444167
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004384852014482021,
|
| 141 |
-
"ssim_fused": 0.979528546333313,
|
| 142 |
-
"seg_l1": 0.004441407974809408,
|
| 143 |
-
"seg_ssim_ref": 0.9795289039611816,
|
| 144 |
-
"depth": 0.0004778070343448781,
|
| 145 |
-
"rgb_loss": 0.007602172903716564,
|
| 146 |
-
"seg_loss": 0.007647345773875713,
|
| 147 |
-
"total": 0.015249996484626622,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004778070343448781,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010307938677543361
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002903382293879986,
|
| 174 |
-
"ssim_fused": 0.9857519268989563,
|
| 175 |
-
"seg_l1": 0.003237217664718628,
|
| 176 |
-
"seg_ssim_ref": 0.9857519268989563,
|
| 177 |
-
"depth": 0.0004152143043869487,
|
| 178 |
-
"rgb_loss": 0.005172320641577244,
|
| 179 |
-
"seg_loss": 0.005439388565719128,
|
| 180 |
-
"total": 0.010612124421600758,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004152143043869487,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001670730283452821
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024716088082641363,
|
| 207 |
-
"ssim_fused": 0.9864842891693115,
|
| 208 |
-
"seg_l1": 0.002313959412276745,
|
| 209 |
-
"seg_ssim_ref": 0.9864841103553772,
|
| 210 |
-
"depth": 0.00032323987975742453,
|
| 211 |
-
"rgb_loss": 0.004680429119616747,
|
| 212 |
-
"seg_loss": 0.0045543452724814415,
|
| 213 |
-
"total": 0.009235098097639232,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032323987975742453,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.131713670186896e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004844252020120621,
|
| 240 |
-
"ssim_fused": 0.977226734161377,
|
| 241 |
-
"seg_l1": 0.004562667105346918,
|
| 242 |
-
"seg_ssim_ref": 0.9772263765335083,
|
| 243 |
-
"depth": 0.00011638051307786048,
|
| 244 |
-
"rgb_loss": 0.008430054411292076,
|
| 245 |
-
"seg_loss": 0.008204858750104904,
|
| 246 |
-
"total": 0.016635029541910058,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011638051307786048,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011638051307786048
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 484,
|
| 281 |
-
"adam_update_count": 46464
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1367358329880517
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_6472277a463241afb94634aad39d2c6a_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 485,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46465,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 484,
|
| 300 |
-
"trained_intervals": 46464,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46464,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4796550273895264,
|
| 333 |
-
"median": 11.515504837036133,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4714992642402649,
|
| 340 |
-
"median": 0.4714992642402649,
|
| 341 |
-
"max": 0.4714992642402649,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.43482914566993713,
|
| 354 |
-
"median": 9.228171348571777,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08377212285995483,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5446990728378296,
|
| 382 |
-
"median": 10179.9091796875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4714992642402649,
|
| 403 |
-
"median": 0.4714992642402649,
|
| 404 |
-
"max": 0.4714992642402649,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5725,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0485.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0485",
|
| 5 |
-
"executed_epochs": 485,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_b62da9391b47484abcbc3a7941d9b1e4.npz",
|
| 37 |
-
"optimizer_file": "boundary_b62da9391b47484abcbc3a7941d9b1e4_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "fa37776c84afd7ad6e76069c84c06a75404084f9da1530f2dd908810ba141778",
|
| 39 |
-
"optimizer_sha256": "7464171979922e3e987e3ed8cff72a4a0e3a49978468e77c89fbf69a8ef7bc23",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 485,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46560,
|
| 45 |
-
"adam_update_count": 46560,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 486,
|
| 49 |
-
"consumed_count": 485,
|
| 50 |
-
"last_submitted_update": 46560,
|
| 51 |
-
"last_consumed_update": 46464,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46560,
|
| 56 |
-
"completed_passes": 485,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46560,
|
| 59 |
-
"snapshot": "pass_end_0485",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 485,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46560,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46560,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.422639075433835e-05,
|
| 83 |
-
"update_l2": 0.024628790095448494
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027719028294086456,
|
| 87 |
-
"update_l2": 0.0007568895816802979
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.097430595109472e-05,
|
| 95 |
-
"update_l2": 0.008967950008809566
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012930888176571467,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47077634930610657,
|
| 114 |
-
"ground_friction/effective": 0.47077634930610657,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012930888176571467,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036502645816653967,
|
| 129 |
-
"ssim_fused": 0.9822495579719543,
|
| 130 |
-
"seg_l1": 0.0036376777570694685,
|
| 131 |
-
"seg_ssim_ref": 0.98224937915802,
|
| 132 |
-
"depth": 0.0003331402799876459,
|
| 133 |
-
"rgb_loss": 0.006470300257205963,
|
| 134 |
-
"seg_loss": 0.006460254546254873,
|
| 135 |
-
"total": 0.012930888176571467
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004384091589599848,
|
| 141 |
-
"ssim_fused": 0.9795266389846802,
|
| 142 |
-
"seg_l1": 0.00443956907838583,
|
| 143 |
-
"seg_ssim_ref": 0.979526937007904,
|
| 144 |
-
"depth": 0.0004777745302425077,
|
| 145 |
-
"rgb_loss": 0.007601945661008358,
|
| 146 |
-
"seg_loss": 0.007646268233656883,
|
| 147 |
-
"total": 0.015248691669195484,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004777745302425077,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010304688267306322
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0029023452661931515,
|
| 174 |
-
"ssim_fused": 0.9857528805732727,
|
| 175 |
-
"seg_l1": 0.003235661191865802,
|
| 176 |
-
"seg_ssim_ref": 0.9857527017593384,
|
| 177 |
-
"depth": 0.0004152003326334269,
|
| 178 |
-
"rgb_loss": 0.0051713003776967525,
|
| 179 |
-
"seg_loss": 0.005437988787889481,
|
| 180 |
-
"total": 0.010609704831580153,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004152003326334269,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001670590565917602
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024704148527234793,
|
| 207 |
-
"ssim_fused": 0.9864921569824219,
|
| 208 |
-
"seg_l1": 0.00231261202134192,
|
| 209 |
-
"seg_ssim_ref": 0.9864917993545532,
|
| 210 |
-
"depth": 0.0003232209614273677,
|
| 211 |
-
"rgb_loss": 0.004677900578826666,
|
| 212 |
-
"seg_loss": 0.004551729653030634,
|
| 213 |
-
"total": 0.009229953452818728,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003232209614273677,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.129821837181216e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004844206385314465,
|
| 240 |
-
"ssim_fused": 0.9772265553474426,
|
| 241 |
-
"seg_l1": 0.004562868736684322,
|
| 242 |
-
"seg_ssim_ref": 0.9772263169288635,
|
| 243 |
-
"depth": 0.00011636529564728132,
|
| 244 |
-
"rgb_loss": 0.008430054411292076,
|
| 245 |
-
"seg_loss": 0.008205031976103783,
|
| 246 |
-
"total": 0.016635202752691505,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011636529564728132,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011636529564728132
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 485,
|
| 281 |
-
"adam_update_count": 46560
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.139725749992067
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_b62da9391b47484abcbc3a7941d9b1e4_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 486,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46561,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 485,
|
| 300 |
-
"trained_intervals": 46560,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46560,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.4852685928344727,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47153323888778687,
|
| 340 |
-
"median": 0.47153323888778687,
|
| 341 |
-
"max": 0.47153323888778687,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4312577247619629,
|
| 354 |
-
"median": 9.225942611694336,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08330317586660385,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5391921997070312,
|
| 382 |
-
"median": 10157.24609375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47153323888778687,
|
| 403 |
-
"median": 0.47153323888778687,
|
| 404 |
-
"max": 0.47153323888778687,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0486.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0486",
|
| 5 |
-
"executed_epochs": 486,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_e26a722f200c45d0ae782203419e690a.npz",
|
| 37 |
-
"optimizer_file": "boundary_e26a722f200c45d0ae782203419e690a_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "b192bf414d0a3bd8f2ce359808352e990eebc5f9cff2d4969b352f0cab42a93a",
|
| 39 |
-
"optimizer_sha256": "63d595a4aab08daf5966cca9e8f05b208f32fe3c9e6bca500d042df11404c552",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 486,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46656,
|
| 45 |
-
"adam_update_count": 46656,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 487,
|
| 49 |
-
"consumed_count": 486,
|
| 50 |
-
"last_submitted_update": 46656,
|
| 51 |
-
"last_consumed_update": 46560,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46656,
|
| 56 |
-
"completed_passes": 486,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46656,
|
| 59 |
-
"snapshot": "pass_end_0486",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 486,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46656,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46656,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.326581155415624e-05,
|
| 83 |
-
"update_l2": 0.024656590074300766
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027020499110221863,
|
| 87 |
-
"update_l2": 0.000755012035369873
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0906198440352455e-05,
|
| 95 |
-
"update_l2": 0.009116902016103268
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012922426001977967,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47085490822792053,
|
| 114 |
-
"ground_friction/effective": 0.47085490822792053,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012922426001977967,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003647934179753065,
|
| 129 |
-
"ssim_fused": 0.9822598695755005,
|
| 130 |
-
"seg_l1": 0.0036346050910651684,
|
| 131 |
-
"seg_ssim_ref": 0.9822598099708557,
|
| 132 |
-
"depth": 0.00033296259944314244,
|
| 133 |
-
"rgb_loss": 0.006466373801231384,
|
| 134 |
-
"seg_loss": 0.006455719470977783,
|
| 135 |
-
"total": 0.012922426001977967
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004379704594612122,
|
| 141 |
-
"ssim_fused": 0.9795462489128113,
|
| 142 |
-
"seg_l1": 0.004434963688254356,
|
| 143 |
-
"seg_ssim_ref": 0.9795466065406799,
|
| 144 |
-
"depth": 0.0004772857184094998,
|
| 145 |
-
"rgb_loss": 0.0075945137068629265,
|
| 146 |
-
"seg_loss": 0.007638650014996529,
|
| 147 |
-
"total": 0.015233641007577865,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004772857184094998,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010255807084005534
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028992369771003723,
|
| 174 |
-
"ssim_fused": 0.9857629537582397,
|
| 175 |
-
"seg_l1": 0.0032310241367667913,
|
| 176 |
-
"seg_ssim_ref": 0.9857629537582397,
|
| 177 |
-
"depth": 0.0004145542734819984,
|
| 178 |
-
"rgb_loss": 0.005166798830032349,
|
| 179 |
-
"seg_loss": 0.005432228557765484,
|
| 180 |
-
"total": 0.010599441942071314,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004145542734819984,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016641299744033172
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002468275837600231,
|
| 207 |
-
"ssim_fused": 0.986504077911377,
|
| 208 |
-
"seg_l1": 0.0023094811476767063,
|
| 209 |
-
"seg_ssim_ref": 0.9865038990974426,
|
| 210 |
-
"depth": 0.0003231833214687907,
|
| 211 |
-
"rgb_loss": 0.004673805087804794,
|
| 212 |
-
"seg_loss": 0.004546805284917355,
|
| 213 |
-
"total": 0.009220933556043618,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003231833214687907,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.126057841323514e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004844519309699535,
|
| 240 |
-
"ssim_fused": 0.977226197719574,
|
| 241 |
-
"seg_l1": 0.004562951158732176,
|
| 242 |
-
"seg_ssim_ref": 0.9772258400917053,
|
| 243 |
-
"depth": 0.00011682708441228086,
|
| 244 |
-
"rgb_loss": 0.008430376648902893,
|
| 245 |
-
"seg_loss": 0.008205193094909191,
|
| 246 |
-
"total": 0.01663568750221907,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011682708441228086,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011682708441228086
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 486,
|
| 281 |
-
"adam_update_count": 46656
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13899886701256037
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_e26a722f200c45d0ae782203419e690a_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 487,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46657,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 486,
|
| 300 |
-
"trained_intervals": 46656,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46656,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.49078369140625,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4716099202632904,
|
| 340 |
-
"median": 0.4716099202632904,
|
| 341 |
-
"max": 0.4716099202632904,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4277498126029968,
|
| 354 |
-
"median": 9.223358154296875,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08284500986337662,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5338023900985718,
|
| 382 |
-
"median": 10131.029296875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4716099202632904,
|
| 403 |
-
"median": 0.4716099202632904,
|
| 404 |
-
"max": 0.4716099202632904,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0487.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0487",
|
| 5 |
-
"executed_epochs": 487,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_bf36b74ab79c48df9aa1f5a86880620c.npz",
|
| 37 |
-
"optimizer_file": "boundary_bf36b74ab79c48df9aa1f5a86880620c_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "32d0cf48d81fcc6f0828472908191217746adcf588a2ad85839f7a37243acc9e",
|
| 39 |
-
"optimizer_sha256": "43e933dd0a7b7c17d0dc76a807940f08792c28a78e32548def3aebfbab0ab802",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 487,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46752,
|
| 45 |
-
"adam_update_count": 46752,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 488,
|
| 49 |
-
"consumed_count": 487,
|
| 50 |
-
"last_submitted_update": 46752,
|
| 51 |
-
"last_consumed_update": 46656,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46752,
|
| 56 |
-
"completed_passes": 487,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46752,
|
| 59 |
-
"snapshot": "pass_end_0487",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 487,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46752,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46752,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.246848301496357e-05,
|
| 83 |
-
"update_l2": 0.02435169368982315
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0026602703146636486,
|
| 87 |
-
"update_l2": 0.0007362961769104004
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0804920748341829e-05,
|
| 95 |
-
"update_l2": 0.009287476539611816
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012918103530521483,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47068890929222107,
|
| 114 |
-
"ground_friction/effective": 0.47068890929222107,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012918103530521483,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003646428231149912,
|
| 129 |
-
"ssim_fused": 0.9822635054588318,
|
| 130 |
-
"seg_l1": 0.003632511477917433,
|
| 131 |
-
"seg_ssim_ref": 0.982263445854187,
|
| 132 |
-
"depth": 0.00033252638110535277,
|
| 133 |
-
"rgb_loss": 0.006464441306889057,
|
| 134 |
-
"seg_loss": 0.006453329231590033,
|
| 135 |
-
"total": 0.012918103530521483
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004379878286272287,
|
| 141 |
-
"ssim_fused": 0.9795423746109009,
|
| 142 |
-
"seg_l1": 0.004433544352650642,
|
| 143 |
-
"seg_ssim_ref": 0.97954261302948,
|
| 144 |
-
"depth": 0.00047726238159152373,
|
| 145 |
-
"rgb_loss": 0.007595427334308624,
|
| 146 |
-
"seg_loss": 0.007638312876224518,
|
| 147 |
-
"total": 0.015234217472914733,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047726238159152373,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010253473402207925
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002899550599977374,
|
| 174 |
-
"ssim_fused": 0.985758364200592,
|
| 175 |
-
"seg_l1": 0.0032319568563252687,
|
| 176 |
-
"seg_ssim_ref": 0.9857583045959473,
|
| 177 |
-
"depth": 0.00041391186057279525,
|
| 178 |
-
"rgb_loss": 0.005167967639863491,
|
| 179 |
-
"seg_loss": 0.005433904472738504,
|
| 180 |
-
"total": 0.010602286490123855,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041391186057279525,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016577058453112864
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024662071373313665,
|
| 207 |
-
"ssim_fused": 0.9865167737007141,
|
| 208 |
-
"seg_l1": 0.002306910464540124,
|
| 209 |
-
"seg_ssim_ref": 0.986516535282135,
|
| 210 |
-
"depth": 0.00032314765175519916,
|
| 211 |
-
"rgb_loss": 0.0046696108765900135,
|
| 212 |
-
"seg_loss": 0.004542221315205097,
|
| 213 |
-
"total": 0.009212155805108153,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032314765175519916,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.1224908699643604e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004840077366679907,
|
| 240 |
-
"ssim_fused": 0.9772365093231201,
|
| 241 |
-
"seg_l1": 0.004557634238153696,
|
| 242 |
-
"seg_ssim_ref": 0.9772361516952515,
|
| 243 |
-
"depth": 0.0001157836305018928,
|
| 244 |
-
"rgb_loss": 0.008424759842455387,
|
| 245 |
-
"seg_loss": 0.008198877796530724,
|
| 246 |
-
"total": 0.016623754353939188,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.0001157836305018928,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011578363050189283
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 487,
|
| 281 |
-
"adam_update_count": 46752
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1353743580111768
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_bf36b74ab79c48df9aa1f5a86880620c_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 488,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46753,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 487,
|
| 300 |
-
"trained_intervals": 46752,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46752,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.496391534805298,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47142520546913147,
|
| 340 |
-
"median": 0.47142520546913147,
|
| 341 |
-
"max": 0.47142520546913147,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.42410048842430115,
|
| 354 |
-
"median": 9.220499992370605,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0823817327618599,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5282151699066162,
|
| 382 |
-
"median": 10102.1142578125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47142520546913147,
|
| 403 |
-
"median": 0.47142520546913147,
|
| 404 |
-
"max": 0.47142520546913147,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0488.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0488",
|
| 5 |
-
"executed_epochs": 488,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_618383330a204b92b49b86157114f8b5.npz",
|
| 37 |
-
"optimizer_file": "boundary_618383330a204b92b49b86157114f8b5_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "0dd0f607def794cbac7eb368dfd9adceaeb5fbf6c4ff7b1b2862b3ff7a524be4",
|
| 39 |
-
"optimizer_sha256": "d93b33b4461c3d092760595be66fb5d715d7a35f80c30231f04f0be5fafd0c2e",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 488,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46848,
|
| 45 |
-
"adam_update_count": 46848,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 489,
|
| 49 |
-
"consumed_count": 488,
|
| 50 |
-
"last_submitted_update": 46848,
|
| 51 |
-
"last_consumed_update": 46752,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46848,
|
| 56 |
-
"completed_passes": 488,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46848,
|
| 59 |
-
"snapshot": "pass_end_0488",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 488,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46848,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46848,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.218808216042817e-05,
|
| 83 |
-
"update_l2": 0.023797016590833664
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0025614688638597727,
|
| 87 |
-
"update_l2": 0.0007239282131195068
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0628757081576623e-05,
|
| 95 |
-
"update_l2": 0.00839599221944809
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012920513840246119,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4707867503166199,
|
| 114 |
-
"ground_friction/effective": 0.4707867503166199,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012920513840246119,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036464431323111057,
|
| 129 |
-
"ssim_fused": 0.9822584986686707,
|
| 130 |
-
"seg_l1": 0.0036329952999949455,
|
| 131 |
-
"seg_ssim_ref": 0.9822583794593811,
|
| 132 |
-
"depth": 0.0003325732826386553,
|
| 133 |
-
"rgb_loss": 0.006465461105108261,
|
| 134 |
-
"seg_loss": 0.006454720161855221,
|
| 135 |
-
"total": 0.012920513840246119
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004384486470371485,
|
| 141 |
-
"ssim_fused": 0.9795187711715698,
|
| 142 |
-
"seg_l1": 0.004437093622982502,
|
| 143 |
-
"seg_ssim_ref": 0.9795191287994385,
|
| 144 |
-
"depth": 0.0004773464995451893,
|
| 145 |
-
"rgb_loss": 0.007603835314512253,
|
| 146 |
-
"seg_loss": 0.007645849138498306,
|
| 147 |
-
"total": 0.015250161799510104,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004773464995451893,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010261885197574484
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002905268454924226,
|
| 174 |
-
"ssim_fused": 0.985733151435852,
|
| 175 |
-
"seg_l1": 0.003241570433601737,
|
| 176 |
-
"seg_ssim_ref": 0.9857330322265625,
|
| 177 |
-
"depth": 0.0004151108505964902,
|
| 178 |
-
"rgb_loss": 0.0051775844767689705,
|
| 179 |
-
"seg_loss": 0.0054466500878334045,
|
| 180 |
-
"total": 0.010624649675452971,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004151108505964902,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016696957455482358
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002465252298861742,
|
| 207 |
-
"ssim_fused": 0.9865258932113647,
|
| 208 |
-
"seg_l1": 0.0023062836844474077,
|
| 209 |
-
"seg_ssim_ref": 0.9865255951881409,
|
| 210 |
-
"depth": 0.00032311843474188594,
|
| 211 |
-
"rgb_loss": 0.004667023196816444,
|
| 212 |
-
"seg_loss": 0.004539907909929752,
|
| 213 |
-
"total": 0.009207254225180938,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032311843474188594,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.119569168633048e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004830764606595039,
|
| 240 |
-
"ssim_fused": 0.9772560596466064,
|
| 241 |
-
"seg_l1": 0.004547033458948135,
|
| 242 |
-
"seg_ssim_ref": 0.9772557616233826,
|
| 243 |
-
"depth": 0.00011471734567105561,
|
| 244 |
-
"rgb_loss": 0.008413399569690228,
|
| 245 |
-
"seg_loss": 0.008186474442481995,
|
| 246 |
-
"total": 0.016599989660840468,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011471734567105561,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011471734567105561
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 488,
|
| 281 |
-
"adam_update_count": 46848
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.135684050997952
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_618383330a204b92b49b86157114f8b5_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 489,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46849,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 488,
|
| 300 |
-
"trained_intervals": 46848,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46848,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.501991033554077,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4715106785297394,
|
| 340 |
-
"median": 0.4715106785297394,
|
| 341 |
-
"max": 0.4715106785297394,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4210405945777893,
|
| 354 |
-
"median": 9.218782424926758,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08192172646522522,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5235460996627808,
|
| 382 |
-
"median": 10084.77734375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4715106785297394,
|
| 403 |
-
"median": 0.4715106785297394,
|
| 404 |
-
"max": 0.4715106785297394,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0489.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0489",
|
| 5 |
-
"executed_epochs": 489,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_4cbed129f8dc409a8a6df615bb7d5d0b.npz",
|
| 37 |
-
"optimizer_file": "boundary_4cbed129f8dc409a8a6df615bb7d5d0b_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "db89f6ecb043c4778eaf647efbb126a652401fb9ad232adcf1860763c6f0499d",
|
| 39 |
-
"optimizer_sha256": "215d7b2d4646191f617717cac7f56dc65bdabb54ccec17ad28df62e4c891eba5",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 489,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 46944,
|
| 45 |
-
"adam_update_count": 46944,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 490,
|
| 49 |
-
"consumed_count": 489,
|
| 50 |
-
"last_submitted_update": 46944,
|
| 51 |
-
"last_consumed_update": 46848,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 46944,
|
| 56 |
-
"completed_passes": 489,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 46944,
|
| 59 |
-
"snapshot": "pass_end_0489",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 489,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 46944,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 46944,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.350748976226896e-05,
|
| 83 |
-
"update_l2": 0.024598075076937675
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002781549235805869,
|
| 87 |
-
"update_l2": 0.0007574856281280518
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0872213351831306e-05,
|
| 95 |
-
"update_l2": 0.009693355299532413
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012920689065063651,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4708157777786255,
|
| 114 |
-
"ground_friction/effective": 0.4708157777786255,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012920689065063651,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003647186327725649,
|
| 129 |
-
"ssim_fused": 0.9822595119476318,
|
| 130 |
-
"seg_l1": 0.0036329778376966715,
|
| 131 |
-
"seg_ssim_ref": 0.9822593927383423,
|
| 132 |
-
"depth": 0.0003327094561409387,
|
| 133 |
-
"rgb_loss": 0.006465849466621876,
|
| 134 |
-
"seg_loss": 0.006454506888985634,
|
| 135 |
-
"total": 0.012920689065063651
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004382944665849209,
|
| 141 |
-
"ssim_fused": 0.9795303344726562,
|
| 142 |
-
"seg_l1": 0.00443677743896842,
|
| 143 |
-
"seg_ssim_ref": 0.9795305132865906,
|
| 144 |
-
"depth": 0.000477310580444367,
|
| 145 |
-
"rgb_loss": 0.007600288838148117,
|
| 146 |
-
"seg_loss": 0.007643319666385651,
|
| 147 |
-
"total": 0.015244085815114211,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.000477310580444367,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010258293287492253
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028998693451285362,
|
| 174 |
-
"ssim_fused": 0.9857569932937622,
|
| 175 |
-
"seg_l1": 0.0032324055209755898,
|
| 176 |
-
"seg_ssim_ref": 0.9857569336891174,
|
| 177 |
-
"depth": 0.00041454873510739893,
|
| 178 |
-
"rgb_loss": 0.005168496631085873,
|
| 179 |
-
"seg_loss": 0.005434537772089243,
|
| 180 |
-
"total": 0.01060344941757151,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041454873510739893,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016640745906573227
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024673077277839184,
|
| 207 |
-
"ssim_fused": 0.9865086078643799,
|
| 208 |
-
"seg_l1": 0.0023078469093889,
|
| 209 |
-
"seg_ssim_ref": 0.9865084290504456,
|
| 210 |
-
"depth": 0.0003231768741714768,
|
| 211 |
-
"rgb_loss": 0.004672124981880188,
|
| 212 |
-
"seg_loss": 0.004544591531157494,
|
| 213 |
-
"total": 0.009217039689911853,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003231768741714768,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.125413111592116e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.0048386226408183575,
|
| 240 |
-
"ssim_fused": 0.9772420525550842,
|
| 241 |
-
"seg_l1": 0.00455488171428442,
|
| 242 |
-
"seg_ssim_ref": 0.9772416353225708,
|
| 243 |
-
"depth": 0.00011580163484051201,
|
| 244 |
-
"rgb_loss": 0.008422487415373325,
|
| 245 |
-
"seg_loss": 0.008195578120648861,
|
| 246 |
-
"total": 0.016618181337657027,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011580163484051201,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011580163484051201
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 489,
|
| 281 |
-
"adam_update_count": 46944
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13631120501668192
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_4cbed129f8dc409a8a6df615bb7d5d0b_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 490,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 46945,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 489,
|
| 300 |
-
"trained_intervals": 46944,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 46944,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5076112747192383,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47157326340675354,
|
| 340 |
-
"median": 0.47157326340675354,
|
| 341 |
-
"max": 0.47157326340675354,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4175340533256531,
|
| 354 |
-
"median": 9.217400550842285,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08146259188652039,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.518213152885437,
|
| 382 |
-
"median": 10070.8515625,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47157326340675354,
|
| 403 |
-
"median": 0.47157326340675354,
|
| 404 |
-
"max": 0.47157326340675354,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0490.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0490",
|
| 5 |
-
"executed_epochs": 490,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_04c0c662b43e48f986d794846a3856a9.npz",
|
| 37 |
-
"optimizer_file": "boundary_04c0c662b43e48f986d794846a3856a9_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "3d3b66e6238622f7b59dc3f2c9b173fcb3110a3b18e0aa9169d7f3547731a20c",
|
| 39 |
-
"optimizer_sha256": "bdd408614b8103460fa9f1e03b999ef4a73b58e2a061c065d8b522cf51f9ede9",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 490,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47040,
|
| 45 |
-
"adam_update_count": 47040,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 491,
|
| 49 |
-
"consumed_count": 490,
|
| 50 |
-
"last_submitted_update": 47040,
|
| 51 |
-
"last_consumed_update": 46944,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47040,
|
| 56 |
-
"completed_passes": 490,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47040,
|
| 59 |
-
"snapshot": "pass_end_0490",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 490,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47040,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47040,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.347057882929221e-05,
|
| 83 |
-
"update_l2": 0.02449754625558853
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027375572826713324,
|
| 87 |
-
"update_l2": 0.0007517635822296143
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0903689144470263e-05,
|
| 95 |
-
"update_l2": 0.008936088532209396
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012926541227158573,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5728,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4706152379512787,
|
| 114 |
-
"ground_friction/effective": 0.4706152379512787,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012926541227158573,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036486699245870113,
|
| 129 |
-
"ssim_fused": 0.9822528958320618,
|
| 130 |
-
"seg_l1": 0.0036355196498334408,
|
| 131 |
-
"seg_ssim_ref": 0.9822527766227722,
|
| 132 |
-
"depth": 0.0003331389841117198,
|
| 133 |
-
"rgb_loss": 0.006468350999057293,
|
| 134 |
-
"seg_loss": 0.0064578577876091,
|
| 135 |
-
"total": 0.012926541227158573
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004384282510727644,
|
| 141 |
-
"ssim_fused": 0.9795233011245728,
|
| 142 |
-
"seg_l1": 0.00443844823166728,
|
| 143 |
-
"seg_ssim_ref": 0.9795234799385071,
|
| 144 |
-
"depth": 0.0004777718337757203,
|
| 145 |
-
"rgb_loss": 0.007602765690535307,
|
| 146 |
-
"seg_loss": 0.0076460628770291805,
|
| 147 |
-
"total": 0.015249306339398264,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004777718337757203,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010304418620627582
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0029032044112682343,
|
| 174 |
-
"ssim_fused": 0.9857456088066101,
|
| 175 |
-
"seg_l1": 0.0032375904265791178,
|
| 176 |
-
"seg_ssim_ref": 0.9857454299926758,
|
| 177 |
-
"depth": 0.0004157840361399578,
|
| 178 |
-
"rgb_loss": 0.005173441953957081,
|
| 179 |
-
"seg_loss": 0.005440986715257168,
|
| 180 |
-
"total": 0.010614844453250389,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004157840361399578,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016764276009829116
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024686323013156652,
|
| 207 |
-
"ssim_fused": 0.9865026473999023,
|
| 208 |
-
"seg_l1": 0.0023105251602828503,
|
| 209 |
-
"seg_ssim_ref": 0.986502468585968,
|
| 210 |
-
"depth": 0.00032318536954285154,
|
| 211 |
-
"rgb_loss": 0.004674376454204321,
|
| 212 |
-
"seg_loss": 0.004547926597297192,
|
| 213 |
-
"total": 0.009222625771209768,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032318536954285154,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.126262648729598e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004838561173528433,
|
| 240 |
-
"ssim_fused": 0.9772401452064514,
|
| 241 |
-
"seg_l1": 0.004555514082312584,
|
| 242 |
-
"seg_ssim_ref": 0.9772397875785828,
|
| 243 |
-
"depth": 0.00011581469698834956,
|
| 244 |
-
"rgb_loss": 0.008422819897532463,
|
| 245 |
-
"seg_loss": 0.008196453563869,
|
| 246 |
-
"total": 0.016619388344775877,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011581469698834956,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011581469698834955
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 490,
|
| 281 |
-
"adam_update_count": 47040
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1693195590050891
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_04c0c662b43e48f986d794846a3856a9_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 491,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47041,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 490,
|
| 300 |
-
"trained_intervals": 47040,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47040,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.513293504714966,
|
| 333 |
-
"median": 11.515507698059082,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4713670015335083,
|
| 340 |
-
"median": 0.4713670015335083,
|
| 341 |
-
"max": 0.4713670015335083,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4140016734600067,
|
| 354 |
-
"median": 9.214786529541016,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08100102096796036,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.512859582901001,
|
| 382 |
-
"median": 10044.560546875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4713670015335083,
|
| 403 |
-
"median": 0.4713670015335083,
|
| 404 |
-
"max": 0.4713670015335083,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5728,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0491.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0491",
|
| 5 |
-
"executed_epochs": 491,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_78baef9bc41d4f978e67973fac2ea6ca.npz",
|
| 37 |
-
"optimizer_file": "boundary_78baef9bc41d4f978e67973fac2ea6ca_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "b5b2bafc6e80eeb04aa2322f86043db0cd619e89b552e2b0f50abefbec091bfe",
|
| 39 |
-
"optimizer_sha256": "5ec9e3a125eafde1fb37a4b4741dcc8f2d0d8955a92065d54c19026bdd9d9756",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 491,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47136,
|
| 45 |
-
"adam_update_count": 47136,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 492,
|
| 49 |
-
"consumed_count": 491,
|
| 50 |
-
"last_submitted_update": 47136,
|
| 51 |
-
"last_consumed_update": 47040,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47136,
|
| 56 |
-
"completed_passes": 491,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47136,
|
| 59 |
-
"snapshot": "pass_end_0491",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 491,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47136,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47136,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.286922820843756e-05,
|
| 83 |
-
"update_l2": 0.024277962744235992
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002681549871340394,
|
| 87 |
-
"update_l2": 0.0007362961769104004
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0853961612156127e-05,
|
| 95 |
-
"update_l2": 0.009245350956916809
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.01292785333693408,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5730,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4704992473125458,
|
| 114 |
-
"ground_friction/effective": 0.4704992473125458,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.01292785333693408,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036489544436335564,
|
| 129 |
-
"ssim_fused": 0.9822523593902588,
|
| 130 |
-
"seg_l1": 0.003636606503278017,
|
| 131 |
-
"seg_ssim_ref": 0.982252299785614,
|
| 132 |
-
"depth": 0.0003330152519835651,
|
| 133 |
-
"rgb_loss": 0.006468691863119602,
|
| 134 |
-
"seg_loss": 0.00645882822573185,
|
| 135 |
-
"total": 0.01292785333693408
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004382304381579161,
|
| 141 |
-
"ssim_fused": 0.9795358777046204,
|
| 142 |
-
"seg_l1": 0.004437310621142387,
|
| 143 |
-
"seg_ssim_ref": 0.9795361161231995,
|
| 144 |
-
"depth": 0.00047777955991578193,
|
| 145 |
-
"rgb_loss": 0.007598668336868286,
|
| 146 |
-
"seg_loss": 0.0076426248997449875,
|
| 147 |
-
"total": 0.015241771016173189,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047777955991578193,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010305191234633742
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.00290455250069499,
|
| 174 |
-
"ssim_fused": 0.9857422113418579,
|
| 175 |
-
"seg_l1": 0.003239381592720747,
|
| 176 |
-
"seg_ssim_ref": 0.9857422113418579,
|
| 177 |
-
"depth": 0.000415784021502154,
|
| 178 |
-
"rgb_loss": 0.0051751998253166676,
|
| 179 |
-
"seg_loss": 0.005443063098937273,
|
| 180 |
-
"total": 0.010618678708275443,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.000415784021502154,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001676427454604873
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002469675149768591,
|
| 207 |
-
"ssim_fused": 0.9864974021911621,
|
| 208 |
-
"seg_l1": 0.002312587108463049,
|
| 209 |
-
"seg_ssim_ref": 0.9864972233772278,
|
| 210 |
-
"depth": 0.0003231887584427991,
|
| 211 |
-
"rgb_loss": 0.004676259588450193,
|
| 212 |
-
"seg_loss": 0.00455062510445714,
|
| 213 |
-
"total": 0.009227207881665776,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003231887584427991,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.1266015387243603e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004839286673814058,
|
| 240 |
-
"ssim_fused": 0.9772339463233948,
|
| 241 |
-
"seg_l1": 0.004557147156447172,
|
| 242 |
-
"seg_ssim_ref": 0.9772335886955261,
|
| 243 |
-
"depth": 0.00011530866807352543,
|
| 244 |
-
"rgb_loss": 0.008424640633165836,
|
| 245 |
-
"seg_loss": 0.008198999799787998,
|
| 246 |
-
"total": 0.016623755741621907,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011530866807352543,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011530866807352543
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 491,
|
| 281 |
-
"adam_update_count": 47136
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13369446899741888
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_78baef9bc41d4f978e67973fac2ea6ca_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 492,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47137,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 491,
|
| 300 |
-
"trained_intervals": 47136,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47136,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.51900315284729,
|
| 333 |
-
"median": 11.515508651733398,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4712355434894562,
|
| 340 |
-
"median": 0.4712355434894562,
|
| 341 |
-
"max": 0.4712355434894562,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.410493940114975,
|
| 354 |
-
"median": 9.211248397827148,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08053985983133316,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.507562279701233,
|
| 382 |
-
"median": 10009.083984375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4712355434894562,
|
| 403 |
-
"median": 0.4712355434894562,
|
| 404 |
-
"max": 0.4712355434894562,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5730,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0492.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0492",
|
| 5 |
-
"executed_epochs": 492,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_5633823b03d447efa9a72e20e9aab838.npz",
|
| 37 |
-
"optimizer_file": "boundary_5633823b03d447efa9a72e20e9aab838_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "04e43884fafda825c0823a8d71bdcf19a381b2d1abd034292530eca79bf72d2e",
|
| 39 |
-
"optimizer_sha256": "7306dca99e89dd7a3e97e43db4d0bbd10fc700ff598928c66d249cb39560f1d4",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 492,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47232,
|
| 45 |
-
"adam_update_count": 47232,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 493,
|
| 49 |
-
"consumed_count": 492,
|
| 50 |
-
"last_submitted_update": 47232,
|
| 51 |
-
"last_consumed_update": 47136,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47232,
|
| 56 |
-
"completed_passes": 492,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47232,
|
| 59 |
-
"snapshot": "pass_end_0492",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 492,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47232,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47232,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.283320494228974e-05,
|
| 83 |
-
"update_l2": 0.023832283914089203
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0025865058414638042,
|
| 87 |
-
"update_l2": 0.0007232725620269775
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0737014235928655e-05,
|
| 95 |
-
"update_l2": 0.008734392002224922
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012928361576809374,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5730,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4704265892505646,
|
| 114 |
-
"ground_friction/effective": 0.4704265892505646,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012928361576809374,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036487854085862637,
|
| 129 |
-
"ssim_fused": 0.9822495579719543,
|
| 130 |
-
"seg_l1": 0.003636040259152651,
|
| 131 |
-
"seg_ssim_ref": 0.9822495579719543,
|
| 132 |
-
"depth": 0.00033298583218103485,
|
| 133 |
-
"rgb_loss": 0.006469107698649168,
|
| 134 |
-
"seg_loss": 0.006458920426666737,
|
| 135 |
-
"total": 0.012928361576809374
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0043844012543559074,
|
| 141 |
-
"ssim_fused": 0.9795203804969788,
|
| 142 |
-
"seg_l1": 0.004436979070305824,
|
| 143 |
-
"seg_ssim_ref": 0.9795207381248474,
|
| 144 |
-
"depth": 0.00047779437568142187,
|
| 145 |
-
"rgb_loss": 0.007603445090353489,
|
| 146 |
-
"seg_loss": 0.007645435631275177,
|
| 147 |
-
"total": 0.015249358516004348,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047779437568142187,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001030667281119774
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002906983718276024,
|
| 174 |
-
"ssim_fused": 0.9857296943664551,
|
| 175 |
-
"seg_l1": 0.003243715036660433,
|
| 176 |
-
"seg_ssim_ref": 0.9857296943664551,
|
| 177 |
-
"depth": 0.00041575021657782316,
|
| 178 |
-
"rgb_loss": 0.005179648287594318,
|
| 179 |
-
"seg_loss": 0.0054490333423018456,
|
| 180 |
-
"total": 0.010629097380112742,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041575021657782316,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001676089405361565
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002470092149451375,
|
| 207 |
-
"ssim_fused": 0.9865038990974426,
|
| 208 |
-
"seg_l1": 0.0023113309871405363,
|
| 209 |
-
"seg_ssim_ref": 0.9865037202835083,
|
| 210 |
-
"depth": 0.00032314778692502935,
|
| 211 |
-
"rgb_loss": 0.0046752942726016045,
|
| 212 |
-
"seg_loss": 0.004548320546746254,
|
| 213 |
-
"total": 0.009223937967134783,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032314778692502935,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.122504386947377e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004833664745092392,
|
| 240 |
-
"ssim_fused": 0.9772444367408752,
|
| 241 |
-
"seg_l1": 0.004552135709673166,
|
| 242 |
-
"seg_ssim_ref": 0.9772440791130066,
|
| 243 |
-
"depth": 0.00011525094953986503,
|
| 244 |
-
"rgb_loss": 0.008418044075369835,
|
| 245 |
-
"seg_loss": 0.008192893117666245,
|
| 246 |
-
"total": 0.01661105244398562,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011525094953986503,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011525094953986504
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 492,
|
| 281 |
-
"adam_update_count": 47232
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.14115504798246548
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_5633823b03d447efa9a72e20e9aab838_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 493,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47233,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 492,
|
| 300 |
-
"trained_intervals": 47232,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47232,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5246944427490234,
|
| 333 |
-
"median": 11.515508651733398,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47114986181259155,
|
| 340 |
-
"median": 0.47114986181259155,
|
| 341 |
-
"max": 0.47114986181259155,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.4073612689971924,
|
| 354 |
-
"median": 9.208684921264648,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.08008277416229248,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.5028469562530518,
|
| 382 |
-
"median": 9983.458984375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47114986181259155,
|
| 403 |
-
"median": 0.47114986181259155,
|
| 404 |
-
"max": 0.47114986181259155,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5730,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0493.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0493",
|
| 5 |
-
"executed_epochs": 493,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_2fc29425c711482ab011db543426a54e.npz",
|
| 37 |
-
"optimizer_file": "boundary_2fc29425c711482ab011db543426a54e_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "11716518d3ae7dd24a77e28d31b140b8c9d14facf303cf37f66ef2b4a91da042",
|
| 39 |
-
"optimizer_sha256": "9cf6fce8c7f4872700a9385056e70ee07ae7a0c6fadfdd80c0b51eef780b31b2",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 493,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47328,
|
| 45 |
-
"adam_update_count": 47328,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 494,
|
| 49 |
-
"consumed_count": 493,
|
| 50 |
-
"last_submitted_update": 47328,
|
| 51 |
-
"last_consumed_update": 47232,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47328,
|
| 56 |
-
"completed_passes": 493,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47328,
|
| 59 |
-
"snapshot": "pass_end_0493",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 493,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47328,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47328,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.755578892305493e-05,
|
| 83 |
-
"update_l2": 0.024528251960873604
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0025326379109174013,
|
| 87 |
-
"update_l2": 0.0007398724555969238
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0965818546537776e-05,
|
| 95 |
-
"update_l2": 0.009690404869616032
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.013243930271294294,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5730,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4709588885307312,
|
| 114 |
-
"ground_friction/effective": 0.4709588885307312,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.013243930271294294,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0037384885363280773,
|
| 129 |
-
"ssim_fused": 0.9819132685661316,
|
| 130 |
-
"seg_l1": 0.0037726187147200108,
|
| 131 |
-
"seg_ssim_ref": 0.9819132685661316,
|
| 132 |
-
"depth": 0.00034887011009397814,
|
| 133 |
-
"rgb_loss": 0.006608131341636181,
|
| 134 |
-
"seg_loss": 0.006635449826717377,
|
| 135 |
-
"total": 0.013243930271294294
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0044929939322173595,
|
| 141 |
-
"ssim_fused": 0.9791404604911804,
|
| 142 |
-
"seg_l1": 0.004581174813210964,
|
| 143 |
-
"seg_ssim_ref": 0.9791406989097595,
|
| 144 |
-
"depth": 0.00048816301080087827,
|
| 145 |
-
"rgb_loss": 0.007766303140670061,
|
| 146 |
-
"seg_loss": 0.007836800068616867,
|
| 147 |
-
"total": 0.015603590906636442,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00048816301080087827,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001134353632314338
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0030623110942542553,
|
| 174 |
-
"ssim_fused": 0.9852399826049805,
|
| 175 |
-
"seg_l1": 0.0034743361175060272,
|
| 176 |
-
"seg_ssim_ref": 0.9852399826049805,
|
| 177 |
-
"depth": 0.00044671608945354835,
|
| 178 |
-
"rgb_loss": 0.005401852540671825,
|
| 179 |
-
"seg_loss": 0.005731472745537758,
|
| 180 |
-
"total": 0.011133772002299036,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00044671608945354835,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00019857481341188174
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0025652877520769835,
|
| 207 |
-
"ssim_fused": 0.986068606376648,
|
| 208 |
-
"seg_l1": 0.002471646759659052,
|
| 209 |
-
"seg_ssim_ref": 0.9860684275627136,
|
| 210 |
-
"depth": 0.00034631139300763595,
|
| 211 |
-
"rgb_loss": 0.004838509019464254,
|
| 212 |
-
"seg_loss": 0.004763632081449032,
|
| 213 |
-
"total": 0.009602486946645006,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00034631139300763595,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 7.438864995208042e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004833361133933067,
|
| 240 |
-
"ssim_fused": 0.9772041440010071,
|
| 241 |
-
"seg_l1": 0.004563316702842712,
|
| 242 |
-
"seg_ssim_ref": 0.9772037863731384,
|
| 243 |
-
"depth": 0.00011428994711385004,
|
| 244 |
-
"rgb_loss": 0.008425860665738583,
|
| 245 |
-
"seg_loss": 0.008209896273911,
|
| 246 |
-
"total": 0.016635871229596696,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011428994711385004,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011428994711385004
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 493,
|
| 281 |
-
"adam_update_count": 47328
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13971587299602106
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_2fc29425c711482ab011db543426a54e_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 494,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47329,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 493,
|
| 300 |
-
"trained_intervals": 47328,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47328,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5318331718444824,
|
| 333 |
-
"median": 11.515508651733398,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4716987609863281,
|
| 340 |
-
"median": 0.4716987609863281,
|
| 341 |
-
"max": 0.4716987609863281,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.40390363335609436,
|
| 354 |
-
"median": 9.20844554901123,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07951312512159348,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.497659683227539,
|
| 382 |
-
"median": 9981.0693359375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4716987609863281,
|
| 403 |
-
"median": 0.4716987609863281,
|
| 404 |
-
"max": 0.4716987609863281,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5730,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0494.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0494",
|
| 5 |
-
"executed_epochs": 494,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_c2834b9d69a3496ca5273eeff88e5116.npz",
|
| 37 |
-
"optimizer_file": "boundary_c2834b9d69a3496ca5273eeff88e5116_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "17cead574a05b605411767d30168dac02e753b50eb6aae60dacb725a916a63fe",
|
| 39 |
-
"optimizer_sha256": "4a66b77870519a1cc49ce61d29050a573d907c35f7c15ab6afe8a46ba3b5cf87",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 494,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47424,
|
| 45 |
-
"adam_update_count": 47424,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 495,
|
| 49 |
-
"consumed_count": 494,
|
| 50 |
-
"last_submitted_update": 47424,
|
| 51 |
-
"last_consumed_update": 47328,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47424,
|
| 56 |
-
"completed_passes": 494,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47424,
|
| 59 |
-
"snapshot": "pass_end_0494",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 494,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47424,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47424,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.188655192498118e-05,
|
| 83 |
-
"update_l2": 0.02520303800702095
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0029048703145235777,
|
| 87 |
-
"update_l2": 0.00078582763671875
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0439973266329616e-05,
|
| 95 |
-
"update_l2": 0.009031691588461399
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012915361922422548,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5730,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47067075967788696,
|
| 114 |
-
"ground_friction/effective": 0.47067075967788696,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012915361922422548,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003645794466137886,
|
| 129 |
-
"ssim_fused": 0.9822637438774109,
|
| 130 |
-
"seg_l1": 0.0036298572085797787,
|
| 131 |
-
"seg_ssim_ref": 0.9822636842727661,
|
| 132 |
-
"depth": 0.00033203344990796827,
|
| 133 |
-
"rgb_loss": 0.006463880650699139,
|
| 134 |
-
"seg_loss": 0.0064511485397815704,
|
| 135 |
-
"total": 0.012915361922422548
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0043866997584700584,
|
| 141 |
-
"ssim_fused": 0.979519248008728,
|
| 142 |
-
"seg_l1": 0.004440843593329191,
|
| 143 |
-
"seg_ssim_ref": 0.9795194864273071,
|
| 144 |
-
"depth": 0.0004778057336005279,
|
| 145 |
-
"rgb_loss": 0.007605510298162699,
|
| 146 |
-
"seg_loss": 0.007648778147995472,
|
| 147 |
-
"total": 0.015254766717553058,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004778057336005279,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010307808603108343
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002901819534599781,
|
| 174 |
-
"ssim_fused": 0.9857457876205444,
|
| 175 |
-
"seg_l1": 0.003235191572457552,
|
| 176 |
-
"seg_ssim_ref": 0.9857457280158997,
|
| 177 |
-
"depth": 0.00041323483788408363,
|
| 178 |
-
"rgb_loss": 0.005172298289835453,
|
| 179 |
-
"seg_loss": 0.00543900765478611,
|
| 180 |
-
"total": 0.010611719179459448,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041323483788408363,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016509356184241696
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002465931000187993,
|
| 207 |
-
"ssim_fused": 0.9865158200263977,
|
| 208 |
-
"seg_l1": 0.0023050939198583364,
|
| 209 |
-
"seg_ssim_ref": 0.9865155816078186,
|
| 210 |
-
"depth": 0.00032318296236011915,
|
| 211 |
-
"rgb_loss": 0.004669581074267626,
|
| 212 |
-
"seg_loss": 0.004540958907455206,
|
| 213 |
-
"total": 0.009210863164685192,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032318296236011915,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.126021930456359e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004828727338463068,
|
| 240 |
-
"ssim_fused": 0.9772742390632629,
|
| 241 |
-
"seg_l1": 0.004538299050182104,
|
| 242 |
-
"seg_ssim_ref": 0.9772739410400391,
|
| 243 |
-
"depth": 0.00011391026578714242,
|
| 244 |
-
"rgb_loss": 0.008408133871853352,
|
| 245 |
-
"seg_loss": 0.008175850845873356,
|
| 246 |
-
"total": 0.016584098627992493,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011391026578714242,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011391026578714242
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 494,
|
| 281 |
-
"adam_update_count": 47424
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13976112901582383
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_c2834b9d69a3496ca5273eeff88e5116_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 495,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47425,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 494,
|
| 300 |
-
"trained_intervals": 47424,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47424,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.538029432296753,
|
| 333 |
-
"median": 11.515508651733398,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4714565873146057,
|
| 340 |
-
"median": 0.4714565873146057,
|
| 341 |
-
"max": 0.4714565873146057,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.40084531903266907,
|
| 354 |
-
"median": 9.206754684448242,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07902196794748306,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.493086338043213,
|
| 382 |
-
"median": 9964.20703125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4714565873146057,
|
| 403 |
-
"median": 0.4714565873146057,
|
| 404 |
-
"max": 0.4714565873146057,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5730,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0495.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0495",
|
| 5 |
-
"executed_epochs": 495,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_9e73d978ebab4acf92e3d87ef4b7be19.npz",
|
| 37 |
-
"optimizer_file": "boundary_9e73d978ebab4acf92e3d87ef4b7be19_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "0a687cb1bca0403f9be7be4adce4ec7e2c74e4b315b9b7451ebf92d19c122653",
|
| 39 |
-
"optimizer_sha256": "62cf4c0ad56ee305350bc28ffa7c696ec18090f2da6552375c2badd0bd149118",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 495,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47520,
|
| 45 |
-
"adam_update_count": 47520,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 496,
|
| 49 |
-
"consumed_count": 495,
|
| 50 |
-
"last_submitted_update": 47520,
|
| 51 |
-
"last_consumed_update": 47424,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47520,
|
| 56 |
-
"completed_passes": 495,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47520,
|
| 59 |
-
"snapshot": "pass_end_0495",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 495,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47520,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47520,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.281142800115049e-05,
|
| 83 |
-
"update_l2": 0.02507801540195942
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002890510018914938,
|
| 87 |
-
"update_l2": 0.0007767081260681152
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0631536497385241e-05,
|
| 95 |
-
"update_l2": 0.009001198224723339
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012900480913563387,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5732,
|
| 109 |
-
"attachment": 493,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4705939292907715,
|
| 114 |
-
"ground_friction/effective": 0.4705939292907715,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012900480913563387,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036419876851141453,
|
| 129 |
-
"ssim_fused": 0.9822828769683838,
|
| 130 |
-
"seg_l1": 0.003624625038355589,
|
| 131 |
-
"seg_ssim_ref": 0.9822828769683838,
|
| 132 |
-
"depth": 0.00033169668795191687,
|
| 133 |
-
"rgb_loss": 0.006457014940679073,
|
| 134 |
-
"seg_loss": 0.00644313357770443,
|
| 135 |
-
"total": 0.012900480913563387
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004377650562673807,
|
| 141 |
-
"ssim_fused": 0.9795578122138977,
|
| 142 |
-
"seg_l1": 0.004431638401001692,
|
| 143 |
-
"seg_ssim_ref": 0.9795581698417664,
|
| 144 |
-
"depth": 0.0004772154287727447,
|
| 145 |
-
"rgb_loss": 0.0075905583798885345,
|
| 146 |
-
"seg_loss": 0.007633676752448082,
|
| 147 |
-
"total": 0.015224712347765389,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004772154287727447,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010248778120330019
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028923270292580128,
|
| 174 |
-
"ssim_fused": 0.9857814311981201,
|
| 175 |
-
"seg_l1": 0.0032213060185313225,
|
| 176 |
-
"seg_ssim_ref": 0.9857814311981201,
|
| 177 |
-
"depth": 0.0004132072571965144,
|
| 178 |
-
"rgb_loss": 0.005157575476914644,
|
| 179 |
-
"seg_loss": 0.00542075838893652,
|
| 180 |
-
"total": 0.010578747538769648,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004132072571965144,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001650659811548477
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.00246268417686224,
|
| 207 |
-
"ssim_fused": 0.9865320920944214,
|
| 208 |
-
"seg_l1": 0.0022992421872913837,
|
| 209 |
-
"seg_ssim_ref": 0.9865319132804871,
|
| 210 |
-
"depth": 0.00032153248878247616,
|
| 211 |
-
"rgb_loss": 0.0046637291088700294,
|
| 212 |
-
"seg_loss": 0.004533011466264725,
|
| 213 |
-
"total": 0.009197062107623537,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032153248878247616,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.960974572692057e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004835288971662521,
|
| 240 |
-
"ssim_fused": 0.977260172367096,
|
| 241 |
-
"seg_l1": 0.004546314012259245,
|
| 242 |
-
"seg_ssim_ref": 0.9772598147392273,
|
| 243 |
-
"depth": 0.00011483157705593232,
|
| 244 |
-
"rgb_loss": 0.008416197262704372,
|
| 245 |
-
"seg_loss": 0.008185088634490967,
|
| 246 |
-
"total": 0.01660140166009497,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011483157705593232,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011483157705593232
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 495,
|
| 281 |
-
"adam_update_count": 47520
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13637402700260282
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_9e73d978ebab4acf92e3d87ef4b7be19_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 496,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47521,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 495,
|
| 300 |
-
"trained_intervals": 47520,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47520,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.543667793273926,
|
| 333 |
-
"median": 11.515510559082031,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.4713706374168396,
|
| 340 |
-
"median": 0.4713706374168396,
|
| 341 |
-
"max": 0.4713706374168396,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.3976764678955078,
|
| 354 |
-
"median": 9.204380989074707,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07857766002416611,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.488362431526184,
|
| 382 |
-
"median": 9940.5830078125,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.4713706374168396,
|
| 403 |
-
"median": 0.4713706374168396,
|
| 404 |
-
"max": 0.4713706374168396,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5732,
|
| 420 |
-
"controller_edge_stiffness": 493
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0496.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0496",
|
| 5 |
-
"executed_epochs": 496,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_5dbbaa4e72134a0ab6a65a5241f7404b.npz",
|
| 37 |
-
"optimizer_file": "boundary_5dbbaa4e72134a0ab6a65a5241f7404b_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "56902d5b7c0749cc9d9d8373cabb1fa3ab2dde9143499cdef1479914f49084b1",
|
| 39 |
-
"optimizer_sha256": "29350716c31b3102d9bdf052c197450d69f722b4688df63403c3a5d71c83ae12",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 496,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47616,
|
| 45 |
-
"adam_update_count": 47616,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 497,
|
| 49 |
-
"consumed_count": 496,
|
| 50 |
-
"last_submitted_update": 47616,
|
| 51 |
-
"last_consumed_update": 47520,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47616,
|
| 56 |
-
"completed_passes": 496,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47616,
|
| 59 |
-
"snapshot": "pass_end_0496",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 496,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47616,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47616,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.339581108884886e-05,
|
| 83 |
-
"update_l2": 0.024662256240844727
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0028836701530963182,
|
| 87 |
-
"update_l2": 0.0007599890232086182
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0557974746916443e-05,
|
| 95 |
-
"update_l2": 0.009392136707901955
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012895883675187281,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5734,
|
| 109 |
-
"attachment": 494,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4703361392021179,
|
| 114 |
-
"ground_friction/effective": 0.4703361392021179,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012895883675187281,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036410850007086992,
|
| 129 |
-
"ssim_fused": 0.9822899699211121,
|
| 130 |
-
"seg_l1": 0.0036233095452189445,
|
| 131 |
-
"seg_ssim_ref": 0.9822898507118225,
|
| 132 |
-
"depth": 0.0003319322014364621,
|
| 133 |
-
"rgb_loss": 0.006454877555370331,
|
| 134 |
-
"seg_loss": 0.006440674886107445,
|
| 135 |
-
"total": 0.012895883675187281
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0043726954609155655,
|
| 141 |
-
"ssim_fused": 0.9795809984207153,
|
| 142 |
-
"seg_l1": 0.004427329171448946,
|
| 143 |
-
"seg_ssim_ref": 0.979581356048584,
|
| 144 |
-
"depth": 0.00047714421303709977,
|
| 145 |
-
"rgb_loss": 0.007581956684589386,
|
| 146 |
-
"seg_loss": 0.007625591941177845,
|
| 147 |
-
"total": 0.015208025769980269,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047714421303709977,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010241656546765525
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002888138173148036,
|
| 174 |
-
"ssim_fused": 0.9857987761497498,
|
| 175 |
-
"seg_l1": 0.003214320633560419,
|
| 176 |
-
"seg_ssim_ref": 0.985798716545105,
|
| 177 |
-
"depth": 0.00041385017001328806,
|
| 178 |
-
"rgb_loss": 0.005150755401700735,
|
| 179 |
-
"seg_loss": 0.005411713384091854,
|
| 180 |
-
"total": 0.010562882170301316,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041385017001328806,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001657088939716214
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0024621642660349607,
|
| 207 |
-
"ssim_fused": 0.9865342974662781,
|
| 208 |
-
"seg_l1": 0.002297975355759263,
|
| 209 |
-
"seg_ssim_ref": 0.9865339994430542,
|
| 210 |
-
"depth": 0.0003209929394297715,
|
| 211 |
-
"rgb_loss": 0.004662872292101383,
|
| 212 |
-
"seg_loss": 0.004531580489128828,
|
| 213 |
-
"total": 0.009194773308508354,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003209929394297715,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.907019637421592e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004841341637074947,
|
| 240 |
-
"ssim_fused": 0.9772457480430603,
|
| 241 |
-
"seg_l1": 0.004553613718599081,
|
| 242 |
-
"seg_ssim_ref": 0.9772453904151917,
|
| 243 |
-
"depth": 0.00011574148326568923,
|
| 244 |
-
"rgb_loss": 0.008423923514783382,
|
| 245 |
-
"seg_loss": 0.008193813264369965,
|
| 246 |
-
"total": 0.016617853451959187,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011574148326568923,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011574148326568925
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 496,
|
| 281 |
-
"adam_update_count": 47616
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1335477690154221
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_5dbbaa4e72134a0ab6a65a5241f7404b_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 497,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47617,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 496,
|
| 300 |
-
"trained_intervals": 47616,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47616,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.549264430999756,
|
| 333 |
-
"median": 11.515514373779297,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47109612822532654,
|
| 340 |
-
"median": 0.47109612822532654,
|
| 341 |
-
"max": 0.47109612822532654,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.3945560157299042,
|
| 354 |
-
"median": 9.200303077697754,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07813911885023117,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.4837253093719482,
|
| 382 |
-
"median": 9900.12890625,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47109612822532654,
|
| 403 |
-
"median": 0.47109612822532654,
|
| 404 |
-
"max": 0.47109612822532654,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5734,
|
| 420 |
-
"controller_edge_stiffness": 494
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0497.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0497",
|
| 5 |
-
"executed_epochs": 497,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_a0b0203b31834a45976932a514895fff.npz",
|
| 37 |
-
"optimizer_file": "boundary_a0b0203b31834a45976932a514895fff_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "7ca3fbb584654d214e96df3261e197c58383f55d80990ebbdeaba0ae3475972e",
|
| 39 |
-
"optimizer_sha256": "28556b609209f138c2e59a5fee9402e1b8b4f95d46261f79b2b4c6af71824697",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 497,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47712,
|
| 45 |
-
"adam_update_count": 47712,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 498,
|
| 49 |
-
"consumed_count": 497,
|
| 50 |
-
"last_submitted_update": 47712,
|
| 51 |
-
"last_consumed_update": 47616,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47712,
|
| 56 |
-
"completed_passes": 497,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47712,
|
| 59 |
-
"snapshot": "pass_end_0497",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 497,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47712,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47712,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 8.913500641938299e-05,
|
| 83 |
-
"update_l2": 0.025271164253354073
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0028458309825509787,
|
| 87 |
-
"update_l2": 0.0006405115127563477
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0575548913038801e-05,
|
| 95 |
-
"update_l2": 0.008080901578068733
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.01339228367289991,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5735,
|
| 109 |
-
"attachment": 494,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4704422354698181,
|
| 114 |
-
"ground_friction/effective": 0.4704422354698181,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.01339228367289991,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.003783297259360552,
|
| 129 |
-
"ssim_fused": 0.9817649126052856,
|
| 130 |
-
"seg_l1": 0.003839051118120551,
|
| 131 |
-
"seg_ssim_ref": 0.9817647933959961,
|
| 132 |
-
"depth": 0.0003579524019453028,
|
| 133 |
-
"rgb_loss": 0.006673652213066816,
|
| 134 |
-
"seg_loss": 0.006718273740261793,
|
| 135 |
-
"total": 0.01339228367289991
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004554716870188713,
|
| 141 |
-
"ssim_fused": 0.9789389967918396,
|
| 142 |
-
"seg_l1": 0.004666081629693508,
|
| 143 |
-
"seg_ssim_ref": 0.9789392352104187,
|
| 144 |
-
"depth": 0.0004957941591067033,
|
| 145 |
-
"rgb_loss": 0.00785597413778305,
|
| 146 |
-
"seg_loss": 0.007945018820464611,
|
| 147 |
-
"total": 0.015801489683729342,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004957941591067033,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00012106651153725886
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.003136430634185672,
|
| 174 |
-
"ssim_fused": 0.9850229620933533,
|
| 175 |
-
"seg_l1": 0.0035850415006279945,
|
| 176 |
-
"seg_ssim_ref": 0.9850229024887085,
|
| 177 |
-
"depth": 0.00046082195641110774,
|
| 178 |
-
"rgb_loss": 0.005504552274942398,
|
| 179 |
-
"seg_loss": 0.005863452795892954,
|
| 180 |
-
"total": 0.011368465427130476,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00046082195641110774,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00021268068036944107
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.0026119891554117203,
|
| 207 |
-
"ssim_fused": 0.9858900904655457,
|
| 208 |
-
"seg_l1": 0.0025469462852925062,
|
| 209 |
-
"seg_ssim_ref": 0.9858899116516113,
|
| 210 |
-
"depth": 0.0003609995855220282,
|
| 211 |
-
"rgb_loss": 0.004911573603749275,
|
| 212 |
-
"seg_loss": 0.004859575070440769,
|
| 213 |
-
"total": 0.009771509673775566,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003609995855220282,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 8.907684246647265e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004830051679164171,
|
| 240 |
-
"ssim_fused": 0.9772076606750488,
|
| 241 |
-
"seg_l1": 0.004558134824037552,
|
| 242 |
-
"seg_ssim_ref": 0.9772073030471802,
|
| 243 |
-
"depth": 0.00011419390674137199,
|
| 244 |
-
"rgb_loss": 0.008422508835792542,
|
| 245 |
-
"seg_loss": 0.008205046877264977,
|
| 246 |
-
"total": 0.01662766990696426,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011419390674137199,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011419390674137199
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 497,
|
| 281 |
-
"adam_update_count": 47712
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13772323800367303
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_a0b0203b31834a45976932a514895fff_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 498,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47713,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 497,
|
| 300 |
-
"trained_intervals": 47712,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47712,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5562689304351807,
|
| 333 |
-
"median": 11.515514373779297,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47108274698257446,
|
| 340 |
-
"median": 0.47108274698257446,
|
| 341 |
-
"max": 0.47108274698257446,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.38813287019729614,
|
| 354 |
-
"median": 9.199504852294922,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07759371399879456,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.4742257595062256,
|
| 382 |
-
"median": 9892.2294921875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47108274698257446,
|
| 403 |
-
"median": 0.47108274698257446,
|
| 404 |
-
"max": 0.47108274698257446,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5735,
|
| 420 |
-
"controller_edge_stiffness": 494
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0498.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0498",
|
| 5 |
-
"executed_epochs": 498,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_42514c262b08434f8c4e72fa7fa10a3e.npz",
|
| 37 |
-
"optimizer_file": "boundary_42514c262b08434f8c4e72fa7fa10a3e_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "7702c4c258a679738e8e8f31857bb7e7f6e66cffd8cf5ba315d609034bf2e3ca",
|
| 39 |
-
"optimizer_sha256": "bca5c5e9c9239ccf023e72216e2995027720b29a4d8d64a2c6818691ca7efb2d",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 498,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47808,
|
| 45 |
-
"adam_update_count": 47808,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 499,
|
| 49 |
-
"consumed_count": 498,
|
| 50 |
-
"last_submitted_update": 47808,
|
| 51 |
-
"last_consumed_update": 47712,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47808,
|
| 56 |
-
"completed_passes": 498,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47808,
|
| 59 |
-
"snapshot": "pass_end_0498",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 498,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47808,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47808,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 7.524761167587712e-05,
|
| 83 |
-
"update_l2": 0.023035526275634766
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027648957911878824,
|
| 87 |
-
"update_l2": 0.0006359219551086426
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 9.68419226410333e-06,
|
| 95 |
-
"update_l2": 0.006338634993880987
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012858568631903707,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5736,
|
| 109 |
-
"attachment": 494,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.470240980386734,
|
| 114 |
-
"ground_friction/effective": 0.470240980386734,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012858568631903707,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036308467388153076,
|
| 129 |
-
"ssim_fused": 0.9823316335678101,
|
| 130 |
-
"seg_l1": 0.003607761114835739,
|
| 131 |
-
"seg_ssim_ref": 0.9823315739631653,
|
| 132 |
-
"depth": 0.0003296293779000795,
|
| 133 |
-
"rgb_loss": 0.006438341923058033,
|
| 134 |
-
"seg_loss": 0.0064198970794677734,
|
| 135 |
-
"total": 0.012858568631903707
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004363244865089655,
|
| 141 |
-
"ssim_fused": 0.9796198606491089,
|
| 142 |
-
"seg_l1": 0.004415831062942743,
|
| 143 |
-
"seg_ssim_ref": 0.9796200394630432,
|
| 144 |
-
"depth": 0.0004769098913610085,
|
| 145 |
-
"rgb_loss": 0.007566623389720917,
|
| 146 |
-
"seg_loss": 0.0076086572371423244,
|
| 147 |
-
"total": 0.01517575800241589,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.0004769098913610085,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010218224379156406
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.0028742142021656036,
|
| 174 |
-
"ssim_fused": 0.9858412742614746,
|
| 175 |
-
"seg_l1": 0.0031946960370987654,
|
| 176 |
-
"seg_ssim_ref": 0.9858412146568298,
|
| 177 |
-
"depth": 0.00040750107041404916,
|
| 178 |
-
"rgb_loss": 0.0051311166025698185,
|
| 179 |
-
"seg_loss": 0.0053875138983130455,
|
| 180 |
-
"total": 0.010519038467614565,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00040750107041404916,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001593597943723825
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002451675245538354,
|
| 207 |
-
"ssim_fused": 0.9865925312042236,
|
| 208 |
-
"seg_l1": 0.0022803894244134426,
|
| 209 |
-
"seg_ssim_ref": 0.9865922331809998,
|
| 210 |
-
"depth": 0.0003199396080508206,
|
| 211 |
-
"rgb_loss": 0.004642833955585957,
|
| 212 |
-
"seg_loss": 0.0045058648101985455,
|
| 213 |
-
"total": 0.009149018239731266,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003199396080508206,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 4.801686499526508e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004834251943975687,
|
| 240 |
-
"ssim_fused": 0.9772730469703674,
|
| 241 |
-
"seg_l1": 0.004540128167718649,
|
| 242 |
-
"seg_ssim_ref": 0.9772727489471436,
|
| 243 |
-
"depth": 0.00011416694177443988,
|
| 244 |
-
"rgb_loss": 0.008412792347371578,
|
| 245 |
-
"seg_loss": 0.008177552372217178,
|
| 246 |
-
"total": 0.016590459817853107,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011416694177443988,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011416694177443988
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 498,
|
| 281 |
-
"adam_update_count": 47808
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.14001083999755792
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_42514c262b08434f8c4e72fa7fa10a3e_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 499,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47809,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 498,
|
| 300 |
-
"trained_intervals": 47808,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47808,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.562286376953125,
|
| 333 |
-
"median": 11.515515327453613,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47087690234184265,
|
| 340 |
-
"median": 0.47087690234184265,
|
| 341 |
-
"max": 0.47087690234184265,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.3858458399772644,
|
| 354 |
-
"median": 9.196639060974121,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.07712819427251816,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.470857858657837,
|
| 382 |
-
"median": 9863.9208984375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47087690234184265,
|
| 403 |
-
"median": 0.47087690234184265,
|
| 404 |
-
"max": 0.47087690234184265,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5736,
|
| 420 |
-
"controller_edge_stiffness": 494
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0499.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0499",
|
| 5 |
-
"executed_epochs": 499,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_18b2a5ce61a94000bff71cbf97944f0d.npz",
|
| 37 |
-
"optimizer_file": "boundary_18b2a5ce61a94000bff71cbf97944f0d_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "5e2a3e38c6690ff7f003f82b01140134ce3a041145bd549063c6e263e272ca67",
|
| 39 |
-
"optimizer_sha256": "c96e96db74c2ff47ec0604741af30cb0aba04f9b3ba44c6d2e96b63f1b5ec2b4",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 499,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 47904,
|
| 45 |
-
"adam_update_count": 47904,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 500,
|
| 49 |
-
"consumed_count": 499,
|
| 50 |
-
"last_submitted_update": 47904,
|
| 51 |
-
"last_consumed_update": 47808,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 47904,
|
| 56 |
-
"completed_passes": 499,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 47904,
|
| 59 |
-
"snapshot": "pass_end_0499",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 499,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 47904,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 47904,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 7.805631321389228e-05,
|
| 83 |
-
"update_l2": 0.02357020601630211
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.0027566237840801477,
|
| 87 |
-
"update_l2": 0.00068703293800354
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 9.98210089164786e-06,
|
| 95 |
-
"update_l2": 0.008422089740633965
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.01290461213507623,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5738,
|
| 109 |
-
"attachment": 494,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.4704514443874359,
|
| 114 |
-
"ground_friction/effective": 0.4704514443874359,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.01290461213507623,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036443634890019894,
|
| 129 |
-
"ssim_fused": 0.9822859168052673,
|
| 130 |
-
"seg_l1": 0.0036289221607148647,
|
| 131 |
-
"seg_ssim_ref": 0.9822858572006226,
|
| 132 |
-
"depth": 0.0003322697517343073,
|
| 133 |
-
"rgb_loss": 0.00645830761641264,
|
| 134 |
-
"seg_loss": 0.006445972248911858,
|
| 135 |
-
"total": 0.01290461213507623
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.004367552697658539,
|
| 141 |
-
"ssim_fused": 0.9796209335327148,
|
| 142 |
-
"seg_l1": 0.004427820444107056,
|
| 143 |
-
"seg_ssim_ref": 0.9796212911605835,
|
| 144 |
-
"depth": 0.00047764352617707726,
|
| 145 |
-
"rgb_loss": 0.007569856010377407,
|
| 146 |
-
"seg_loss": 0.00761799793690443,
|
| 147 |
-
"total": 0.015188331590808015,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047764352617707726,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.0001029158786076328
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002890606177970767,
|
| 174 |
-
"ssim_fused": 0.9857980608940125,
|
| 175 |
-
"seg_l1": 0.003217304591089487,
|
| 176 |
-
"seg_ssim_ref": 0.9857980608940125,
|
| 177 |
-
"depth": 0.0004119634707044399,
|
| 178 |
-
"rgb_loss": 0.005152872763574123,
|
| 179 |
-
"seg_loss": 0.005414231680333614,
|
| 180 |
-
"total": 0.010567516407378443,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.0004119634707044399,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.0001638221946627732
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002467172686010599,
|
| 207 |
-
"ssim_fused": 0.9865077137947083,
|
| 208 |
-
"seg_l1": 0.0023053365293890238,
|
| 209 |
-
"seg_ssim_ref": 0.9865073561668396,
|
| 210 |
-
"depth": 0.0003221335511577005,
|
| 211 |
-
"rgb_loss": 0.004672195762395859,
|
| 212 |
-
"seg_loss": 0.004542797803878784,
|
| 213 |
-
"total": 0.009215315699825801,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.0003221335511577005,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.0210808102144874e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004852121230214834,
|
| 240 |
-
"ssim_fused": 0.9772169589996338,
|
| 241 |
-
"seg_l1": 0.004565227311104536,
|
| 242 |
-
"seg_ssim_ref": 0.9772166013717651,
|
| 243 |
-
"depth": 0.00011733845889801157,
|
| 244 |
-
"rgb_loss": 0.00843830592930317,
|
| 245 |
-
"seg_loss": 0.008208861574530602,
|
| 246 |
-
"total": 0.016647284842292668,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011733845889801157,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.00011733845889801157
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 499,
|
| 281 |
-
"adam_update_count": 47904
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.13794418500037864
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_18b2a5ce61a94000bff71cbf97944f0d_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 500,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 47905,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 499,
|
| 300 |
-
"trained_intervals": 47904,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 47904,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5675079822540283,
|
| 333 |
-
"median": 11.51551628112793,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.47113847732543945,
|
| 340 |
-
"median": 0.47113847732543945,
|
| 341 |
-
"max": 0.47113847732543945,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.3832797408103943,
|
| 354 |
-
"median": 9.193495750427246,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0767265111207962,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.4670884609222412,
|
| 382 |
-
"median": 9832.96484375,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.47113847732543945,
|
| 403 |
-
"median": 0.47113847732543945,
|
| 404 |
-
"max": 0.47113847732543945,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5738,
|
| 420 |
-
"controller_edge_stiffness": 494
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_end_0500.json
DELETED
|
@@ -1,423 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": "p12_privileged_adam_checkpoint.v1",
|
| 3 |
-
"method_id": "deform360_e2_photometric_adam_v1",
|
| 4 |
-
"label": "pass_end_0500",
|
| 5 |
-
"executed_epochs": 500,
|
| 6 |
-
"score": null,
|
| 7 |
-
"best_score": 0.0123266631530242,
|
| 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_f11070a4b57b4fa7bacaadccae45f2a8.npz",
|
| 37 |
-
"optimizer_file": "boundary_f11070a4b57b4fa7bacaadccae45f2a8_optimizer.pt",
|
| 38 |
-
"arrays_sha256": "aa9122bf86e8b7f5c89be04659d6f1996ff1570e9327d7a464e8b855fe62d70f",
|
| 39 |
-
"optimizer_sha256": "18e105e677210b85b27549fb48729d3b3147a598e5b06400dbfd6e74a9c486b1",
|
| 40 |
-
"stage": "adam",
|
| 41 |
-
"completed_passes": 500,
|
| 42 |
-
"score_status": "unscored",
|
| 43 |
-
"adam_transition_batch_size": 1,
|
| 44 |
-
"cumulative_optimizer_updates": 48000,
|
| 45 |
-
"adam_update_count": 48000,
|
| 46 |
-
"score_selection_progress": {
|
| 47 |
-
"queue": "pass_snapshot_references_v2",
|
| 48 |
-
"submitted_count": 501,
|
| 49 |
-
"consumed_count": 500,
|
| 50 |
-
"last_submitted_update": 48000,
|
| 51 |
-
"last_consumed_update": 47904,
|
| 52 |
-
"pending": [
|
| 53 |
-
{
|
| 54 |
-
"reference": {
|
| 55 |
-
"source_update": 48000,
|
| 56 |
-
"completed_passes": 500,
|
| 57 |
-
"next_interval": 0,
|
| 58 |
-
"trained_intervals": 48000,
|
| 59 |
-
"snapshot": "pass_end_0500",
|
| 60 |
-
"candidate": true
|
| 61 |
-
},
|
| 62 |
-
"status": "registered"
|
| 63 |
-
}
|
| 64 |
-
]
|
| 65 |
-
},
|
| 66 |
-
"best_source_update": 23712,
|
| 67 |
-
"pass_science": {
|
| 68 |
-
"completed_passes": 500,
|
| 69 |
-
"adam_schedule": "source_transition_v1",
|
| 70 |
-
"next_interval": 0,
|
| 71 |
-
"trained_intervals": 48000,
|
| 72 |
-
"adam_transition_batch_size": 1,
|
| 73 |
-
"optimizer_updates": 1,
|
| 74 |
-
"cumulative_optimizer_updates": 48000,
|
| 75 |
-
"updates": [
|
| 76 |
-
{
|
| 77 |
-
"batch_transition_count": 1,
|
| 78 |
-
"batch_weight_sum": 0.010416666666666666,
|
| 79 |
-
"lr": 0.001,
|
| 80 |
-
"leaf_metrics": {
|
| 81 |
-
"log_object_edge_stiffness": {
|
| 82 |
-
"gradient_l2": 7.974576146807522e-05,
|
| 83 |
-
"update_l2": 0.02364867925643921
|
| 84 |
-
},
|
| 85 |
-
"raw_ground_friction": {
|
| 86 |
-
"gradient_l2": 0.002811115002259612,
|
| 87 |
-
"update_l2": 0.0007043778896331787
|
| 88 |
-
},
|
| 89 |
-
"raw_ground_restitution": {
|
| 90 |
-
"gradient_l2": 0.0,
|
| 91 |
-
"update_l2": 0.0
|
| 92 |
-
},
|
| 93 |
-
"log_controller_edge_stiffness": {
|
| 94 |
-
"gradient_l2": 1.0206229489995167e-05,
|
| 95 |
-
"update_l2": 0.008687916211783886
|
| 96 |
-
}
|
| 97 |
-
},
|
| 98 |
-
"training_path_transitions": [
|
| 99 |
-
{
|
| 100 |
-
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 101 |
-
"transition_index": 95,
|
| 102 |
-
"loss": 0.012922042888934178,
|
| 103 |
-
"weight": 0.010416666666666666
|
| 104 |
-
}
|
| 105 |
-
],
|
| 106 |
-
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
-
"dead_counts": {
|
| 108 |
-
"object": 5739,
|
| 109 |
-
"attachment": 494,
|
| 110 |
-
"ground": 1
|
| 111 |
-
},
|
| 112 |
-
"ground_context": {
|
| 113 |
-
"ground_friction/raw": 0.47035473585128784,
|
| 114 |
-
"ground_friction/effective": 0.47035473585128784,
|
| 115 |
-
"ground_friction/clamp_changed": 0,
|
| 116 |
-
"ground_restitution/raw": -0.013315116986632347,
|
| 117 |
-
"ground_restitution/effective": 0.0,
|
| 118 |
-
"ground_restitution/clamp_changed": 1,
|
| 119 |
-
"ground_friction/contact_active": 1,
|
| 120 |
-
"ground_restitution/contact_active": 1
|
| 121 |
-
},
|
| 122 |
-
"photometric_transition": {
|
| 123 |
-
"transition_index": 95,
|
| 124 |
-
"loss": 0.012922042888934178,
|
| 125 |
-
"state_finite": true,
|
| 126 |
-
"frame_index": 188,
|
| 127 |
-
"components": {
|
| 128 |
-
"l1": 0.0036493141669780016,
|
| 129 |
-
"ssim_fused": 0.9822676777839661,
|
| 130 |
-
"seg_l1": 0.003636653535068035,
|
| 131 |
-
"seg_ssim_ref": 0.9822676181793213,
|
| 132 |
-
"depth": 0.00033308879510661227,
|
| 133 |
-
"rgb_loss": 0.006465913262218237,
|
| 134 |
-
"seg_loss": 0.006455796770751476,
|
| 135 |
-
"total": 0.012922042888934178
|
| 136 |
-
},
|
| 137 |
-
"views": [
|
| 138 |
-
{
|
| 139 |
-
"camera": "brics-odroid-015_cam0",
|
| 140 |
-
"l1": 0.0043713245540857315,
|
| 141 |
-
"ssim_fused": 0.9796090126037598,
|
| 142 |
-
"seg_l1": 0.004433991387486458,
|
| 143 |
-
"seg_ssim_ref": 0.9796093106269836,
|
| 144 |
-
"depth": 0.00047819432506156673,
|
| 145 |
-
"rgb_loss": 0.007575257681310177,
|
| 146 |
-
"seg_loss": 0.007625331170856953,
|
| 147 |
-
"total": 0.01520106704649219,
|
| 148 |
-
"valid_depth_pixels": 37350,
|
| 149 |
-
"excluded_depth_pixels": 884250,
|
| 150 |
-
"object_depth_holes": 129,
|
| 151 |
-
"depth_full_image_mean_m": 0.00047819432506156673,
|
| 152 |
-
"depth_decomposition": {
|
| 153 |
-
"object_visible": {
|
| 154 |
-
"pixels": 36691,
|
| 155 |
-
"full_image_mean_m": 0.00010346667749212229
|
| 156 |
-
},
|
| 157 |
-
"object_occluded": {
|
| 158 |
-
"pixels": 659,
|
| 159 |
-
"full_image_mean_m": 0.0003747276475694445
|
| 160 |
-
},
|
| 161 |
-
"nonobject_visible": {
|
| 162 |
-
"pixels": 0,
|
| 163 |
-
"full_image_mean_m": 0.0
|
| 164 |
-
},
|
| 165 |
-
"nonobject_occluded": {
|
| 166 |
-
"pixels": 0,
|
| 167 |
-
"full_image_mean_m": 0.0
|
| 168 |
-
}
|
| 169 |
-
}
|
| 170 |
-
},
|
| 171 |
-
{
|
| 172 |
-
"camera": "brics-odroid-022_cam1",
|
| 173 |
-
"l1": 0.002897330792620778,
|
| 174 |
-
"ssim_fused": 0.9857780933380127,
|
| 175 |
-
"seg_l1": 0.0032271374948322773,
|
| 176 |
-
"seg_ssim_ref": 0.9857780933380127,
|
| 177 |
-
"depth": 0.00041401437424071566,
|
| 178 |
-
"rgb_loss": 0.005162246059626341,
|
| 179 |
-
"seg_loss": 0.005426091141998768,
|
| 180 |
-
"total": 0.010588750750338062,
|
| 181 |
-
"valid_depth_pixels": 22977,
|
| 182 |
-
"excluded_depth_pixels": 898623,
|
| 183 |
-
"object_depth_holes": 41,
|
| 184 |
-
"depth_full_image_mean_m": 0.00041401437424071566,
|
| 185 |
-
"depth_decomposition": {
|
| 186 |
-
"object_visible": {
|
| 187 |
-
"pixels": 22612,
|
| 188 |
-
"full_image_mean_m": 0.00016587309819904905
|
| 189 |
-
},
|
| 190 |
-
"object_occluded": {
|
| 191 |
-
"pixels": 365,
|
| 192 |
-
"full_image_mean_m": 0.00024814127604166664
|
| 193 |
-
},
|
| 194 |
-
"nonobject_visible": {
|
| 195 |
-
"pixels": 0,
|
| 196 |
-
"full_image_mean_m": 0.0
|
| 197 |
-
},
|
| 198 |
-
"nonobject_occluded": {
|
| 199 |
-
"pixels": 0,
|
| 200 |
-
"full_image_mean_m": 0.0
|
| 201 |
-
}
|
| 202 |
-
}
|
| 203 |
-
},
|
| 204 |
-
{
|
| 205 |
-
"camera": "brics-odroid-023_cam0",
|
| 206 |
-
"l1": 0.002472128951922059,
|
| 207 |
-
"ssim_fused": 0.9864819049835205,
|
| 208 |
-
"seg_l1": 0.002313608070835471,
|
| 209 |
-
"seg_ssim_ref": 0.9864817261695862,
|
| 210 |
-
"depth": 0.00032273342132464874,
|
| 211 |
-
"rgb_loss": 0.004681322257965803,
|
| 212 |
-
"seg_loss": 0.004554541315883398,
|
| 213 |
-
"total": 0.009236186307270525,
|
| 214 |
-
"valid_depth_pixels": 20979,
|
| 215 |
-
"excluded_depth_pixels": 900621,
|
| 216 |
-
"object_depth_holes": 24,
|
| 217 |
-
"depth_full_image_mean_m": 0.00032273342132464874,
|
| 218 |
-
"depth_decomposition": {
|
| 219 |
-
"object_visible": {
|
| 220 |
-
"pixels": 20564,
|
| 221 |
-
"full_image_mean_m": 5.081067826909315e-05
|
| 222 |
-
},
|
| 223 |
-
"object_occluded": {
|
| 224 |
-
"pixels": 415,
|
| 225 |
-
"full_image_mean_m": 0.0002719227430555555
|
| 226 |
-
},
|
| 227 |
-
"nonobject_visible": {
|
| 228 |
-
"pixels": 0,
|
| 229 |
-
"full_image_mean_m": 0.0
|
| 230 |
-
},
|
| 231 |
-
"nonobject_occluded": {
|
| 232 |
-
"pixels": 0,
|
| 233 |
-
"full_image_mean_m": 0.0
|
| 234 |
-
}
|
| 235 |
-
}
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"camera": "brics-odroid-001_cam0",
|
| 239 |
-
"l1": 0.004856472834944725,
|
| 240 |
-
"ssim_fused": 0.9772017598152161,
|
| 241 |
-
"seg_l1": 0.004571877885609865,
|
| 242 |
-
"seg_ssim_ref": 0.9772014021873474,
|
| 243 |
-
"depth": 0.00011741305979951802,
|
| 244 |
-
"rgb_loss": 0.008444827049970627,
|
| 245 |
-
"seg_loss": 0.008217222057282925,
|
| 246 |
-
"total": 0.016662167451635925,
|
| 247 |
-
"valid_depth_pixels": 24075,
|
| 248 |
-
"excluded_depth_pixels": 897525,
|
| 249 |
-
"object_depth_holes": 5,
|
| 250 |
-
"depth_full_image_mean_m": 0.00011741305979951802,
|
| 251 |
-
"depth_decomposition": {
|
| 252 |
-
"object_visible": {
|
| 253 |
-
"pixels": 24075,
|
| 254 |
-
"full_image_mean_m": 0.000117413059799518
|
| 255 |
-
},
|
| 256 |
-
"object_occluded": {
|
| 257 |
-
"pixels": 0,
|
| 258 |
-
"full_image_mean_m": 0.0
|
| 259 |
-
},
|
| 260 |
-
"nonobject_visible": {
|
| 261 |
-
"pixels": 0,
|
| 262 |
-
"full_image_mean_m": 0.0
|
| 263 |
-
},
|
| 264 |
-
"nonobject_occluded": {
|
| 265 |
-
"pixels": 0,
|
| 266 |
-
"full_image_mean_m": 0.0
|
| 267 |
-
}
|
| 268 |
-
}
|
| 269 |
-
}
|
| 270 |
-
],
|
| 271 |
-
"frame_indices": [
|
| 272 |
-
187,
|
| 273 |
-
188
|
| 274 |
-
],
|
| 275 |
-
"times_s": [
|
| 276 |
-
3.1666666666666665,
|
| 277 |
-
3.2
|
| 278 |
-
]
|
| 279 |
-
},
|
| 280 |
-
"completed_passes": 500,
|
| 281 |
-
"adam_update_count": 48000
|
| 282 |
-
}
|
| 283 |
-
],
|
| 284 |
-
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
-
"wall_time_s": 0.1344619340088684
|
| 286 |
-
},
|
| 287 |
-
"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",
|
| 288 |
-
"execution_mode": "atomic_captured",
|
| 289 |
-
"rng_file": "boundary_f11070a4b57b4fa7bacaadccae45f2a8_rng.pt",
|
| 290 |
-
"rng_sha256": "bab483379a2322396541f70f836be9a636389c55e3a2b05f41151a5b4499182f",
|
| 291 |
-
"resume_boundary": "detached_observation_interval",
|
| 292 |
-
"next_pass": 501,
|
| 293 |
-
"next_interval": 0,
|
| 294 |
-
"next_adam_update": 48001,
|
| 295 |
-
"schedule_id": "source_transition_v1",
|
| 296 |
-
"adam_schedule": "source_transition_v1",
|
| 297 |
-
"source_cursor": {
|
| 298 |
-
"next_interval": 0,
|
| 299 |
-
"completed_passes": 500,
|
| 300 |
-
"trained_intervals": 48000,
|
| 301 |
-
"source_timestamp_s": 3.2,
|
| 302 |
-
"next_source_timestamp_s": 0.0,
|
| 303 |
-
"update_budget": 48000
|
| 304 |
-
},
|
| 305 |
-
"trained_intervals": 48000,
|
| 306 |
-
"source_timestamp_s": 3.2,
|
| 307 |
-
"archive_axis": "optimizer_update",
|
| 308 |
-
"objective_carry_names": [
|
| 309 |
-
"canonical_colors",
|
| 310 |
-
"canonical_means",
|
| 311 |
-
"canonical_opacities",
|
| 312 |
-
"canonical_particles",
|
| 313 |
-
"canonical_quats",
|
| 314 |
-
"canonical_scales",
|
| 315 |
-
"committed_means",
|
| 316 |
-
"committed_particles",
|
| 317 |
-
"committed_quats",
|
| 318 |
-
"frame_index",
|
| 319 |
-
"gaussian_supports",
|
| 320 |
-
"node_ids",
|
| 321 |
-
"particle_relations",
|
| 322 |
-
"particle_state_id",
|
| 323 |
-
"prepared",
|
| 324 |
-
"registration",
|
| 325 |
-
"state_id",
|
| 326 |
-
"time_s"
|
| 327 |
-
],
|
| 328 |
-
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 329 |
-
"collision_distance_m": null,
|
| 330 |
-
"parameter_summary": {
|
| 331 |
-
"log_object_edge_stiffness": {
|
| 332 |
-
"min": -2.5728442668914795,
|
| 333 |
-
"median": 11.51551628112793,
|
| 334 |
-
"max": 11.532203674316406,
|
| 335 |
-
"finite_count": 8695,
|
| 336 |
-
"nonfinite_count": 0
|
| 337 |
-
},
|
| 338 |
-
"raw_ground_friction": {
|
| 339 |
-
"min": 0.471059113740921,
|
| 340 |
-
"median": 0.471059113740921,
|
| 341 |
-
"max": 0.471059113740921,
|
| 342 |
-
"finite_count": 1,
|
| 343 |
-
"nonfinite_count": 0
|
| 344 |
-
},
|
| 345 |
-
"raw_ground_restitution": {
|
| 346 |
-
"min": -0.013315116986632347,
|
| 347 |
-
"median": -0.013315116986632347,
|
| 348 |
-
"max": -0.013315116986632347,
|
| 349 |
-
"finite_count": 1,
|
| 350 |
-
"nonfinite_count": 0
|
| 351 |
-
},
|
| 352 |
-
"log_controller_edge_stiffness": {
|
| 353 |
-
"min": 0.3805881142616272,
|
| 354 |
-
"median": 9.186944961547852,
|
| 355 |
-
"max": 11.527586936950684,
|
| 356 |
-
"finite_count": 1791,
|
| 357 |
-
"nonfinite_count": 0
|
| 358 |
-
},
|
| 359 |
-
"effective_object_edge_stiffness": {
|
| 360 |
-
"min": 0.0763181671500206,
|
| 361 |
-
"median": 100000.0,
|
| 362 |
-
"max": 100000.0,
|
| 363 |
-
"finite_count": 8695,
|
| 364 |
-
"nonfinite_count": 0
|
| 365 |
-
},
|
| 366 |
-
"object_edge_enabled": {
|
| 367 |
-
"min": 1.0,
|
| 368 |
-
"median": 1.0,
|
| 369 |
-
"max": 1.0,
|
| 370 |
-
"finite_count": 8695,
|
| 371 |
-
"nonfinite_count": 0
|
| 372 |
-
},
|
| 373 |
-
"object_edge_cap_mask": {
|
| 374 |
-
"min": 0.0,
|
| 375 |
-
"median": 1.0,
|
| 376 |
-
"max": 1.0,
|
| 377 |
-
"finite_count": 8695,
|
| 378 |
-
"nonfinite_count": 0
|
| 379 |
-
},
|
| 380 |
-
"effective_controller_edge_stiffness": {
|
| 381 |
-
"min": 1.4631447792053223,
|
| 382 |
-
"median": 9768.76171875,
|
| 383 |
-
"max": 100000.0,
|
| 384 |
-
"finite_count": 1791,
|
| 385 |
-
"nonfinite_count": 0
|
| 386 |
-
},
|
| 387 |
-
"controller_edge_enabled": {
|
| 388 |
-
"min": 1.0,
|
| 389 |
-
"median": 1.0,
|
| 390 |
-
"max": 1.0,
|
| 391 |
-
"finite_count": 1791,
|
| 392 |
-
"nonfinite_count": 0
|
| 393 |
-
},
|
| 394 |
-
"controller_edge_cap_mask": {
|
| 395 |
-
"min": 0.0,
|
| 396 |
-
"median": 0.0,
|
| 397 |
-
"max": 1.0,
|
| 398 |
-
"finite_count": 1791,
|
| 399 |
-
"nonfinite_count": 0
|
| 400 |
-
},
|
| 401 |
-
"effective_ground_friction": {
|
| 402 |
-
"min": 0.471059113740921,
|
| 403 |
-
"median": 0.471059113740921,
|
| 404 |
-
"max": 0.471059113740921,
|
| 405 |
-
"finite_count": 1,
|
| 406 |
-
"nonfinite_count": 0
|
| 407 |
-
},
|
| 408 |
-
"effective_ground_restitution": {
|
| 409 |
-
"min": 0.0,
|
| 410 |
-
"median": 0.0,
|
| 411 |
-
"max": 0.0,
|
| 412 |
-
"finite_count": 1,
|
| 413 |
-
"nonfinite_count": 0
|
| 414 |
-
}
|
| 415 |
-
},
|
| 416 |
-
"guard_affected_counts": {
|
| 417 |
-
"raw_ground_friction": 0,
|
| 418 |
-
"raw_ground_restitution": 1,
|
| 419 |
-
"object_edge_stiffness": 5739,
|
| 420 |
-
"controller_edge_stiffness": 494
|
| 421 |
-
},
|
| 422 |
-
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0000.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0001.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0002.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0003.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0004.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0005.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0006.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0007.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0008.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0009.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0010.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0011.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0012.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0013.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0014.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0015.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0016.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0017.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0018.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0019.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_epochs/pass_scores/pass_end_0020.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|