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a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e2faf576795872eafb436f11acfdb7421257732c --- /dev/null +++ b/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 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..436c89dc26ae95e1e67b65b243d11bfa0c2438fa --- /dev/null +++ b/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 diff --git a/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/BEST.json b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/BEST.json new file mode 100644 index 0000000000000000000000000000000000000000..cba10a09cdf60adb43db0fd93b77dcf40e219e6b --- /dev/null +++ b/processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/BEST.json @@ -0,0 +1,7645 @@ +{ + "schema_version": "p12_privileged_adam_checkpoint.v1", + "method_id": "prepared_observation_source_cma_then_source_adam_v1", + "label": "BEST", + "executed_epochs": 491, + "score": 9.522169138250889e-05, + "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_2377b87ebc6c4603b4640aff85f2a5a1.npz", + "optimizer_file": "boundary_2377b87ebc6c4603b4640aff85f2a5a1_optimizer.pt", + "arrays_sha256": "f3d751115597914c9da750c1a751b8de99811a45768ce98b7079155d4dd125a4", + "optimizer_sha256": "e48887d444bd9618c6b47716acf9452f933aad350ca48042fa18301616aeecee", + "stage": "adam", + "completed_passes": 491, + "score_status": "scored", + "adam_transition_batch_size": 1, + "cumulative_optimizer_updates": 81506, + "adam_update_count": 81506, + "score_selection_progress": { + "queue": "pass_snapshot_references_v2", + "submitted_count": 492, + "consumed_count": 491, + 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