processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking: payload batch 1/29

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_000001-010000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:291e2ae01d2f353861be45dca2ca68b51fed96236a59cdc393590b23991dd8db
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_010001-020000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88fb9f5593366b9c5118b7b2118f0a903104dfeb110bf1ae1d43c06e0b1ee138
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_020001-030000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd65beed21701aa6ce79b734053ac1ca3b3a21d5c4f342e258ef624f0fe373b
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_030001-040000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fc96c874e5b46715e9b128e880745673e454ba4b00ab71aee43791ef7b59ebd
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_040001-050000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b47515eb47fd282de92db82452bf89773f738ff49de9ee283598c23ebc0abc
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_050001-060000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025f1c9722f7fbc8e76275b4d49d30facec931d0b7f70f0c6f6b927ed6594c32
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_060001-070000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa6992b49831eaf616b9be261e5ccab3d7b34fbdb619e06b57ad4430a931005
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_070001-080000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a243f8b31c2441fe5389983686a0b77ed77874eed15fe204f034c49063a2bf0e
+size 30730240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/archives/adam_epochs_updates_080001-090000.tar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e78edd2b5b011a7ba51f7cbc76f7b4e0f8cb983c1aa43bf44b30c034d43cab
+size 9226240

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err

@@ -0,0 +1,45 @@
+wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
+wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
+wandb: setting up run 80ea68ecb3e74761
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/runs/wandb/run-20261014_202408-80ea68ecb3e74761
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/80ea68ecb3e74761
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: seed=42 will never be used (seed is only used if option 'randn' is np.random.randn) (time=Oct 14 20:24:44 2026)
+  warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
+wandb: updating run metadata
+wandb: uploading wandb-summary.json; uploading config.yaml
+wandb: 
+wandb: Run history:
+wandb:       deform/adam_progress/checkpoint_bytes ▁▁▃▃▄▄▄▅▆▆▆▆▆▇▇▇▇▇▇█▇███████▇███████████
+wandb:           deform/adam_progress/checkpoint_s ▃▂▄▃▄▂▃▂▁▁▂▂▃▂▆▁▄▃█▂▃▂▃▃▂▂▂▁▂▁▄▁▂▂▁▂▂▄▃▃
+wandb:       deform/adam_progress/completed_passes ▁▁▁▁▂▂▂▂▂▂▂▃▃▃▃▃▃▄▄▄▄▄▄▄▅▅▅▆▆▆▇▇▇▇▇▇▇███
+wandb:              deform/adam_progress/elapsed_s ▁▁▁▁▁▂▂▂▂▂▃▃▃▃▃▃▃▄▄▄▅▅▅▆▆▆▆▆▆▆▆▇▇▇▇▇████
+wandb:          deform/adam_progress/next_interval ▇▅▅▇█▆▇▃▂▃▆▇▄▅▆█▃▂▆▂▇▇█▁▅▄▂▄▁▇▄█▃▄▇▄█▄▆▄
+wandb: deform/adam_progress/partial_pass_intervals ▁▃▁▃▅▂▂▄▇█▇▃▅▄▃▃▆▂█▂▁▄▆▁▆▃▃▇▄▂▇▇▆▂▆▄▃▁▄▄
+wandb:                 deform/adam_progress/pass_s ▂▁▂▂▂▃▃▂▁▃▂▃▄▄▄▅▆█▆▆▆▅▅▄▃▃▃▄▃▃▄▃▂▁▂▃▃▃▄▂
+wandb:     deform/adam_progress/successful_updates ▁▁▁▂▂▃▃▃▃▃▃▃▃▃▄▄▄▄▄▄▄▄▅▅▅▅▅▅▅▆▆▆▇▇▇▇▇███
+wandb:      deform/adam_progress/trained_intervals ▁▁▁▁▁▂▂▂▂▃▃▃▃▃▃▄▄▄▄▄▅▅▅▆▆▆▆▇▇▇▇▇▇▇▇▇▇▇██
+wandb:               deform/adam_progress/update_s ▂▂▁▁▁▁█▁▁▁▁▁▁▁▁▁▁▂▁▁▁▁▃▁▁▂▁▁▁▁▁▁▁▁▃▁▂▁▁▂
+wandb:                                        +292 ...
+wandb: 
+wandb: Run summary:
+wandb:       deform/adam_progress/checkpoint_bytes 270603
+wandb:           deform/adam_progress/checkpoint_s 0.14815
+wandb:       deform/adam_progress/completed_passes 500
+wandb:          deform/adam_progress/next_interval 0
+wandb: deform/adam_progress/partial_pass_intervals 0
+wandb:                 deform/adam_progress/pass_s 32.63948
+wandb:     deform/adam_progress/successful_updates 83000
+wandb:      deform/adam_progress/trained_intervals 83000
+wandb:               deform/adam_progress/update_s 0.03413
+wandb:                        deform/adam_update/C 6e-05
+wandb:                                        +293 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/80ea68ecb3e74761
+wandb: ⭐️ View project at: https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: Synced 2 W&B file(s), 0 media file(s), 0 artifact file(s) and 1 other file(s)
+wandb: Find logs at: /vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/runs/wandb/run-20261014_202408-80ea68ecb3e74761/logs

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/evidence/u08c_d1_001-rope_ep2_64_230/parcc_records/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out

@@ -0,0 +1,226 @@
+{
+  "agent_worktree_root": "/vast/projects/posa/contact-rich-robot/worktrees",
+  "allowed_worktree_roots": [
+    "/vast/projects/posa/contact-rich-robot/worktrees"
+  ],
+  "canonical_repo_path": "/vast/projects/posa/contact-rich-robot/belt_perception",
+  "data_root": "/vast/projects/posa/contact-rich-robot/data",
+  "execution_environment": "parcc",
+  "peer_ssh_alias": "magna-gpu",
+  "project_root": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014",
+  "run_root": "/vast/projects/posa/contact-rich-robot/runs",
+  "scratch_root": "/vast/projects/posa/contact-rich-robot/scratch",
+  "shared_root": "/vast/projects/posa/contact-rich-robot/data/belt_perception_shared",
+  "transfer_root": "/vast/projects/posa/contact-rich-robot/transfers",
+  "uv_cache_root": "/vast/projects/posa/contact-rich-robot/uv/cache"
+}
+Agent preflight summary
+  execution_environment: parcc
+  pwd:              /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014
+  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014
+  branch:           cursor/u08c_d1_rope_ep2_fit_parcc_20261014
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/u08c_d1_rope_ep2_fit_parcc_20261014
+  marker.environment:     parcc
+  marker.canonical_path:  /vast/projects/posa/contact-rich-robot/belt_perception
+  marker.worktree_path:   /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014
+  marker.base_commit:     a4b23833d614b43bcd440c4c2c9dc29eb919adec
+  marker.created_at:      2026-10-15T00:01:30Z
+  resolved.canonical:     /vast/projects/posa/contact-rich-robot/belt_perception
+  resolved.worktree_root: /vast/projects/posa/contact-rich-robot/worktrees
+  resolved.data_root:     /vast/projects/posa/contact-rich-robot/data
+  resolved.shared_root:   /vast/projects/posa/contact-rich-robot/data/belt_perception_shared
+  resolved.run_root:      /vast/projects/posa/contact-rich-robot/runs
+  resolved.scratch_root:  /vast/projects/posa/contact-rich-robot/scratch
+  resolved.transfer_root: /vast/projects/posa/contact-rich-robot/transfers
+  resolved.uv_cache_root: /vast/projects/posa/contact-rich-robot/uv/cache
+  worktree status:
+    ## cursor/u08c_d1_rope_ep2_fit_parcc_20261014
+  canonical status (/vast/projects/posa/contact-rich-robot/belt_perception):
+    ## main...origin/main
+
+Preflight passed. Safe to edit in this worktree.
+{
+  "dependency_paths": {
+    "gsplat": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat"
+    ],
+    "newton": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/third_party/newton/newton/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/third_party/newton/newton"
+    ],
+    "torch": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch"
+    ],
+    "warp": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp"
+    ]
+  },
+  "errors": [],
+  "expected": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "4915ddc8b0c0737e9b48b0238522597694b7dd7b",
+    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
+  },
+  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv/.belt_perception_environment.json",
+  "observed": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "4915ddc8b0c0737e9b48b0238522597694b7dd7b",
+    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
+  },
+  "ok": true
+}
+[run_single_task] job_id=9045990 host=dgx029.cm.cluster
+[run_single_task] execution_environment=parcc profile=parcc-e2e
+[run_single_task] worktree=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014 commit=4915ddc8b0c0737e9b48b0238522597694b7dd7b uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d1_rope_ep2_fit_parcc_20261014/.venv
+[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c_d1_rope_ep2_20261014/tracking_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.out,/vast/projects/posa/contact-rich-robot/runs/u08c_d1_tracking_20261014/slurm/u08c-d1-tracking_9045990.err
+NVIDIA B200, GPU-d7504423-6265-a263-ee68-47a8c2600440
+[run_single_task] command=env WANDB_MODE=online WANDB_DIR=/vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/runs WANDB_DATA_DIR=/vast/projects/posa/contact-rich-robot/tool_state/wandb/u08c_d1/data WANDB_CACHE_DIR=/vast/projects/posa/contact-rich-robot/tool_cache/wandb/u08c_d1/cache WANDB_ARTIFACT_DIR=/vast/projects/posa/contact-rich-robot/tool_cache/wandb/u08c_d1/artifacts python scripts/hpc/with_wandb_auth.py --wandb-key-file /vast/projects/posa/contact-rich-robot/private/leonmkim/wandb-key -- python scripts/run_observation_reference_fit.py fit --inputs /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/inputs/fit_inputs --output /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/tracking/fit --device cuda:0 --execution-mode atomic_captured --max-cma-generations 100 --adam-passes 500 --observation-mode online --observation-root /vast/projects/posa/contact-rich-robot/data/belt_perception_shared/unified_fusion_u08c/D1_001-rope_ep2_64_230/tracking/telemetry --observation-run-name DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014 --observation-approved-entity serialexperimentsleon --observation-approved-project belt_perception --observation-approved-payload DEFORM360_scalars_guide 
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 4g.90gb" (89 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1439.67 ms  (compiled)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1430.16 ms  (compiled)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 356.13 ms  (compiled)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 278.89 ms  (compiled)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 324.00 ms  (compiled)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 458.86 ms  (compiled)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 773.02 ms  (compiled)
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 2014.09 ms  (compiled)
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:24:44 2026)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 4g.90gb" (89 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c_d1_tracking_20261014/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 27.57 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 20.17 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 23.18 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 20.14 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 18.66 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 17.29 ms  (cached)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 28.08 ms  (cached)
+{
+  "status": "completed_lifecycle",
+  "trajectory_id": "deform360_001-rope_episode_2_aligned_64_230",
+  "cma": {
+    "completed_generations": 100,
+    "completed_evaluations": 1100,
+    "stopped_reason": "max_generations",
+    "native_stop_reasons": {},
+    "hard_generation_cap_reached": true,
+    "generation_cap": 100,
+    "champion": {
+      "global_serial_ask_index": 1027,
+      "generation": 93,
+      "J_CMA": 0.00026867073606206166,
+      "J_obs": 0.0002652953449654318,
+      "physical_parameters": {
+        "spring_Y": 1186.1499897257813,
+        "object_radius": 0.019001705534000435,
+        "object_max_neighbours": 19,
+        "controller_radius": 0.058835908009766937,
+        "controller_max_neighbours": 10,
+        "collide_elas": 0.6951579367521333,
+        "collide_fric": 1.9949841367247705,
+        "collide_object_elas": 0.04981464877510002,
+        "collide_object_fric": 0.8622385374164907,
+        "collision_dist": 0.015550052066711485,
+        "drag_damping": 15.765522860141708,
+        "dashpot_damping": 199.55372791644191
+      },
+      "object_edges": 13559,
+      "controller_edges": 300
+    }
+  },
+  "adam": {
+    "stopped_reason": "max_updates",
+    "cumulative_optimizer_updates": 83000,
+    "completed_passes": 500,
+    "trained_intervals": 83000,
+    "next_interval": 0,
+    "best_source_update": 81506,
+    "best_score": 9.522169138250889e-05,
+    "final_score": 9.844203991469182e-05,
+    "score_cadence": "pass_end",
+    "scored_candidates": 501,
+    "scoring_intervals": 83166,
+    "async_scoring": {
+      "queue": "pass_snapshot_references_v2",
+      "submitted": 501,
+      "consumed": 501,
+      "reused_persisted_results": 0,
+      "evaluated_this_process": 501,
+      "max_pending_references": 1,
+      "consumed_during_training_this_process": 500,
+      "nonfinite_scored_candidates": [],
+      "final_snapshot": "pass_end_0500"
+    },
+    "pass_snapshots": 501,
+    "update_budget": 83000,
+    "partial_final_pass": false
+  },
+  "telemetry": {
+    "readiness": {
+      "status": "confirmed",
+      "probe_record": 0,
+      "readiness": {
+        "record": 0,
+        "step": 0,
+        "status": "confirmed",
+        "remote_run_id_matches": true,
+        "remote_last_step": 0,
+        "row_readback": "matched",
+        "mismatched_keys": [],
+        "config_readback": true,
+        "elapsed_s": 15.85050424397923
+      },
+      "run_id": "80ea68ecb3e74761",
+      "target": {
+        "entity": "serialexperimentsleon",
+        "project": "belt_perception",
+        "run_name": "DEFORM360_U08C_D1_rope_ep2_64_230_tracking_20261014"
+      },
+      "heavy_modules": []
+    },
+    "close": {
+      "status": "clean",
+      "exitcode": 0,
+      "backlog": {
+        "collector_producer_backlog_bytes": 0,
+        "journal_records": 103434,
+        "journal_bytes": 227968056,
+        "sdk_submitted_records": 103434,
+        "publisher_backlog_records": 0,
+        "uncertain_records": 0,
+        "delivery": "submitted"
+      },
+      "collection": {
+        "hook_errors": {},
+        "missing_parameter_samples": [],
+        "unreported_parameter_gaps": [],
+        "producer_errors": {
+          "1": 0
+        }
+      },
+      "fit": "completed",
+      "producer_errors": 0,
+      "producer_last_error": null
+    }
+  }
+}
+[run_single_task] exit_status=0

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "boundary",
+  "executed_epochs": 500,
+  "score": null,
+  "best_score": 9.522169138250889e-05,
+  "patience_epochs": 0,
+  "window_start_score": null,
+  "leaf_names": [
+    "log_object_edge_stiffness",
+    "raw_ground_friction",
+    "raw_ground_restitution",
+    "log_controller_edge_stiffness"
+  ],
+  "lr": 0.001,
+  "betas": [
+    0.9,
+    0.99
+  ],
+  "eps": 1e-08,
+  "spring_y_clamp": [
+    0.0,
+    100000.0
+  ],
+  "ground_restitution_clamp": [
+    0.0,
+    1.0
+  ],
+  "ground_friction_clamp": [
+    0.0,
+    2.0
+  ],
+  "clamp_at_use_only": true,
+  "metric_role": "all_data_in_sample",
+  "arrays_file": "boundary_a9fd1ca3b5d342daab7f169098c771d1.npz",
+  "optimizer_file": "boundary_a9fd1ca3b5d342daab7f169098c771d1_optimizer.pt",
+  "arrays_sha256": "df1a4db0dedbbfc4a69feb5dfad4d6218a9471547baf351dcf4325a943345673",
+  "optimizer_sha256": "d38b2357e7a95071130f6ad4d7e837716f6ce358098cac6c5733154e745ed69b",
+  "stage": "adam",
+  "completed_passes": 500,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 83000,
+  "adam_update_count": 83000,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 501,
+    "consumed_count": 500,
+    "last_submitted_update": 83000,
+    "last_consumed_update": 82834,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 83000,
+          "completed_passes": 500,
+          "next_interval": 0,
+          "trained_intervals": 83000,
+          "snapshot": "pass_end_0500",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 81506,
+  "pass_science": {
+    "completed_passes": 500,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 83000,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 83000,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.006024096385542169,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.0444044846735778e-06,
+            "update_l2": 0.00818131398409605
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 4.0875983131627436e-07,
+            "update_l2": 0.0024015612434595823
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
+            "transition_index": 165,
+            "loss": 0.00012046012125210837,
+            "weight": 0.006024096385542169
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 165,
+          "loss": 0.00012046012125210837,
+          "observation_loss": 0.00012046012125210837,
+          "chamfer": 5.721351772081107e-05,
+          "track": 6.32466035312973e-05,
+          "acceleration": 0.0,
+          "visible_count": 1327,
+          "motion_valid_count": 1327,
+          "n_nodes": 1327,
+          "state_finite": true,
+          "frame_indices": [
+            229,
+            230
+          ],
+          "times_s": [
+            5.5,
+            5.533333333333333
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1327,
+          "frozen_motion_denominator": 1327
+        },
+        "completed_passes": 500,
+        "adam_update_count": 83000
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.034130993066355586
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_a9fd1ca3b5d342daab7f169098c771d1_rng.pt",
+  "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 501,
+  "next_interval": 0,
+  "next_adam_update": 83001,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 500,
+    "trained_intervals": 83000,
+    "source_timestamp_s": 5.533333333333333,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 83000
+  },
+  "trained_intervals": 83000,
+  "source_timestamp_s": 5.533333333333333,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -0.6702662110328674,
+      "median": 7.346822261810303,
+      "max": 11.530586242675781,
+      "finite_count": 13559,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.0090935230255127,
+      "median": 2.0090935230255127,
+      "max": 2.0090935230255127,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": 1.0052064657211304,
+      "median": 1.0052064657211304,
+      "max": 1.0052064657211304,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -2.2000229358673096,
+      "median": 5.331779956817627,
+      "max": 11.5305757522583,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.5115724205970764,
+      "median": 1551.2591552734375,
+      "max": 100000.0,
+      "finite_count": 13559,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 13559,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 13559,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.1108006164431572,
+      "median": 206.8065185546875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 458,
+    "controller_edge_stiffness": 23
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_00581afc88f64de393cb544db7725e2b.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b175060ea60a15bdfbcea141c397d75fd1d7b96868ed2838d9c61e0e5ed7646
+size 132218

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_00581afc88f64de393cb544db7725e2b_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e2fd54055e28b3d12259c79735aac73c82bc914560778aa77e8ea9677a9dfeb
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_00581afc88f64de393cb544db7725e2b_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0119743e5c3a422a968eb42e9f21e557.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:057ec2dcb98ac7f0ac54ea534f1c0b1c4448f1e6c5870ab664aa6b0f8522b220
+size 132247

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0119743e5c3a422a968eb42e9f21e557_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1adae18ce36447f1c06359dcf7028d8e1e3aa5210149aed78fe192ade30131f
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0119743e5c3a422a968eb42e9f21e557_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0125d164c60e4f8d9b6f72bf89e17519.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0650585369cea8e76cc1467d99c87e8fd4e11ce8a9e9e3e0a038a816d700fc1d
+size 132357

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0125d164c60e4f8d9b6f72bf89e17519_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111f501387abec7c05ab9bbfdbcaec3e9647e4b8eb422e18227b0d1096c4eb68
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0125d164c60e4f8d9b6f72bf89e17519_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_01dab745e35c492db001509b3600f088.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d243856843e81f4afc5e8f29d8b60926b29a0a6b7a001bf2f28ac4235c58d5b
+size 132261

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_01dab745e35c492db001509b3600f088_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1855d5d0ec5c4bda88024a3d4ff6afa0db9ac63d03b6ee5f6630416aa438e11f
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_01dab745e35c492db001509b3600f088_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_024421e1f4b64d65b24f36edfa66c959.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92394828227b4045584da276bfec1bc7cc80bafb80eccd914f15a3226a1a078c
+size 132241

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_024421e1f4b64d65b24f36edfa66c959_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e967feeb4cb80a9ac88cd64f18b048196fa77d8ebcf563366d03ccf6e88a59c0
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_024421e1f4b64d65b24f36edfa66c959_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_025beff79bfe409ab2cb48dfe31f50f7.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2eb6f5372f59f692ed21d214809a64b862b3abe5e1dac8bbd913b2e2df5f241
+size 132392

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_025beff79bfe409ab2cb48dfe31f50f7_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a904c03ec637799b007fe828d9ffc4bd2b02a98cf677ede64f9a128fd74cc638
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_025beff79bfe409ab2cb48dfe31f50f7_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_031c6e53447e445d8eac3974b2cf1958.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f61d93dd4d5bdf877cab955210a4dff47ed2ac6f052e766b9e950dce4ea5ea
+size 132243

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_031c6e53447e445d8eac3974b2cf1958_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16460d49e8b83436e8b04902e94f3036c70b639c1eaf59d3c48a9de98f17f958
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_031c6e53447e445d8eac3974b2cf1958_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_045a859586404d9396a4794f2b6d4f56.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08af41febe760e949a84b711f9fbfdf2f69827c5cc94e97d8de7fff18d444641
+size 127926

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_045a859586404d9396a4794f2b6d4f56_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313dfcfa9b43239bfd56a3dad5b72e963c3fb6ce667152be91d9407ceeeeddb0
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_045a859586404d9396a4794f2b6d4f56_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_05535a2521dc4ab68c95147c7ff0bd98.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ad3cdb823223293b7e7a8564edeb52b428247ab232a2ac78479f14582e6213
+size 130749

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_05535a2521dc4ab68c95147c7ff0bd98_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6ea6c47601c04000c99bcc17df14952857c34a32bd46fa0a8bd1de8d095498
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_05535a2521dc4ab68c95147c7ff0bd98_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0589454245624668a2c88dce0f8eeb47.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8330b751558a51cbe777321ccca9842997e2b82c7c53382a7a0441abce1fe34
+size 131624

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0589454245624668a2c88dce0f8eeb47_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2055567b5b8a4018e9a1453406b1ba8905c2a909389f64eba7013c5ff2455392
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_0589454245624668a2c88dce0f8eeb47_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_060a0b3e453d4e24a29f292acc27ed4d.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8f60e606b71d3860ab02408267edbf20ea8e7d348fe930d1bb23c733ff04f0
+size 132499

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_060a0b3e453d4e24a29f292acc27ed4d_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62bda9ec5356407dd1b36affb199e3d56243573f45a8da23b151d2231e2efaea
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_060a0b3e453d4e24a29f292acc27ed4d_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_06a59b9ceeca46589ee20dd34b622867.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:521f59fdc6f2a0574102fa2fcbe425ce003b8b5d9f6bafb08ac48aadcc423807
+size 131921

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_06a59b9ceeca46589ee20dd34b622867_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0dad8557be01bc30f0031ce8a922902629afe4658aa3df94c7705fbc725cb63
+size 115943

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_06a59b9ceeca46589ee20dd34b622867_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
+size 14805