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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/README.md

@@ -0,0 +1,28 @@
+# DEFORM360_E2_ep0_92_188_20260924: E2 full CMA→Adam fit (Deform360 001-rope, episode 0, aligned 92–188)
+
+Authoritative local copy of the E2 run for E2-AUDIT. Durable task evidence under the shared root (not
+`/tmp`, not a worktree); not a formal promotion bundle. Result note:
+`docs/experiments/deform360_e2_full_fit_20260924.md` on branch `cursor/deform360_e2_full_fit`.
+
+- Code `3ad61eca` (main after #944; code identical to `6010712c`), clean worktree
+  `/mnt/data0/magna/belt_perception_wt_deform360_e2_full_fit`, minimal profile; cuda:0 RTX 4090, `atomic_captured`.
+- Owner allocation 2026-09-24: cuda:0, fit ≤3 h, ≤10 GiB, online run `DEFORM360_E2_ep0_92_188_20260924`
+  in `serialexperimentsleon/belt_perception` (payload `DEFORM360_scalars_guide`), ≤1 delivery-only recovery (not used).
+- W&B run id `3f70448bfa304ddd`, state finished, 59,861/59,861 rows. Local SDK dir:
+  `/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260924_174519-3f70448bfa304ddd`.
+- Inputs: retained E1 FitInputs `/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/inputs/e1_20260923_ep0_92_188/fit_inputs/`
+  (hashes in `logs/environment.txt` and `fit/observation_fit_inputs.json`); a copy sits in `fit/inputs/`.
+
+| Path | Contents | Owner |
+|---|---|---|
+| `fit/` | Scientific run directory written by `scripts/run_observation_reference_fit.py fit`: bindings, centre score, 100 CMA generations (asks, backend checkpoints, models), exact winner/champion model, `adam_epochs/` (48,000 update records, 17 rolling boundary checkpoints, `theta_0`, 501 `pass_end_NNNN` snapshots, `pass_scores/` 501 frozen scores with saved rollouts, BEST/FINAL), `adam_scores.jsonl`, `run_result.json` | science (read-only after the run) |
+| `telemetry/` | Observation root: producer journal and 4,801 sparse parameter copies, collector cursor, local scalar journal, delivery ledger/costs, resolved observer, metric notes, close record | telemetry |
+| `logs/` | Launch command, environment/versions/input hashes, start/end/exit, fit stdout (printed run result) / stderr, poller logs | launcher |
+| `readback/` | Read-only poller (`polls.jsonl`, `remote_rows.jsonl`), first-minutes check, remote export, generalized remote↔local comparison (`e2_comparison_after_fit.json`), config float round-trip, delivery/cost summary. `comparison_after_fit.json` is the unmodified P-TELEM-LIVE tool, whose ask/update/parameter/frozen checks are hardcoded to its 192-update diagnostic; superseded by the E2 version | read-only evidence |
+| `reload/` | One fresh-process reload of FINAL (= BEST, identical arrays) with saved-array re-reduction; `attempt0_*` is an invocation that never started (zsh word-splitting), no process ran | counted diagnostic |
+| `analysis/` | Saved-array analysis: summary, 501 pass scores, per-transition C/T/A/counts and geometry, figures (`ground_profile.png`: rope bottom vs declared ground), `residual_localization.txt`. `ground_check/`: owner-approved follow-up (2026-09-24) reading all 5,426 raw tracks for frames 0–188 via the hash-gated reader (`raw_span_0_188/` export + `ground_check.json`) | read-only evidence |
+| `tools/` | Launcher, poller, first-minutes check, analysis, comparison, delivery/cost and ground-check scripts (all read-only on `fit/`; `e2_ground_check.py` runs with the isolated deform360 env) | this task |
+
+Reproduce (from the worktree, WANDB roots as in `tools/launch_e2_fit.sh`, provisioned credential):
+`bash tools/launch_e2_fit.sh` (refuses an existing `fit/`); `reload` per `reload/reload_command.txt`;
+analysis/comparison scripts take this root as their first argument.

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/environment.txt

@@ -0,0 +1,21 @@
+code_head=3ad61eca7228670a04b8d7aea00a689fb143cb2e
+branch=cursor/deform360_e2_full_fit
+git_status_porcelain_lines=0
+python=3.11.14
+versions=0.28.2 1.16.0 2.11.0+cu128 4.4.4
+gpu=0, NVIDIA GeForce RTX 4090, 580.178.04, 1611 MiB, 24564 MiB
+gpu_apps=49298, 1020 MiB, /mnt/data0/magna/belt_perception/.venv/lib/python3.11/site-packages/rerun_sdk/rerun_cli/rerun;
+wandb_env_names=WANDB_API_KEY WANDB_ARTIFACT_DIR WANDB_CACHE_DIR WANDB_DATA_DIR WANDB_DIR 
+WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+WANDB_MODE=<unset>
+inputs_sha256:
+035a285f5a31516a4f6d12840a27a36a517e108191ca5eacea03464c94177345  fit_inputs.json
+e10508a1d6c7cb1b7b02a052db7245b9956aa1f041bb12fa711ae3dfe0dab7ba  model.npz
+9bf42b29e1e216effef847697ca07579e94f1cd0160b8bc18da55572b36b3e73  observations.npz
+eaf6ff38041018a08de8c784556a937bb3995ef6f490848840aaac6df28f619d  scene.npz
+7e5f7aff800c77f3011f1f2fffc383efd2ade6c96f7564292b97d8ce4f58fe7a  source_initialization.json
+36ff641b0d014abafb24e358cdc67a8d102ef6607023d349444a4a709e0c571c  source_initialization.npz
+c697036af2d277ec48b37760a7ad4fbcdaf0685c267ec67f5ae72ea008897db0  timeline.npz

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit.exit

@@ -0,0 +1 @@
+exit=0

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit.stderr

@@ -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 3f70448bfa304ddd
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260924_174519-3f70448bfa304ddd
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_E2_ep0_92_188_20260924
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/3f70448bfa304ddd
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+/mnt/data0/magna/belt_perception_wt_deform360_e2_full_fit/.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=Sep 24 17:45:38 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 214814
+wandb:           deform/adam_progress/checkpoint_s 0.0084
+wandb:       deform/adam_progress/completed_passes 500
+wandb:              deform/adam_progress/elapsed_s 3250.98851
+wandb:          deform/adam_progress/next_interval 0
+wandb: deform/adam_progress/partial_pass_intervals 0
+wandb:                 deform/adam_progress/pass_s 3.61758
+wandb:     deform/adam_progress/successful_updates 48000
+wandb:      deform/adam_progress/trained_intervals 48000
+wandb:               deform/adam_progress/update_s 0.02233
+wandb:                                        +295 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_E2_ep0_92_188_20260924 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/3f70448bfa304ddd
+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: /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260924_174519-3f70448bfa304ddd/logs

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit.stdout

@@ -0,0 +1,139 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 2.86 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1.57 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 1.66 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 1.33 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 1.59 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 1.82 ms  (cached)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 7.39 ms  (cached)
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 9.81 ms  (cached)
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Thu Sep 24 17:45:38 2026)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1.89 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1.25 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.31 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.24 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 2.38 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 2.00 ms  (cached)
+Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 1.92 ms  (cached)
+{
+  "status": "completed_lifecycle",
+  "trajectory_id": "deform360_001-rope_episode_0_aligned_92_188",
+  "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": 1030,
+      "generation": 93,
+      "J_CMA": 1.3980608403111697e-05,
+      "J_obs": 1.2773251375127378e-05,
+      "physical_parameters": {
+        "spring_Y": 30429.304578084826,
+        "object_radius": 0.019029687678329348,
+        "object_max_neighbours": 12,
+        "controller_radius": 0.05503967902048717,
+        "controller_max_neighbours": 61,
+        "collide_elas": 0.023052300697592235,
+        "collide_fric": 0.477809666322764,
+        "collide_object_elas": 0.34911563830306125,
+        "collide_object_fric": 0.0758129358983996,
+        "collision_dist": 0.026509848482492077,
+        "drag_damping": 17.854821028006974,
+        "dashpot_damping": 159.82929373636583
+      },
+      "object_edges": 8695,
+      "controller_edges": 1791
+    }
+  },
+  "adam": {
+    "stopped_reason": "max_updates",
+    "cumulative_optimizer_updates": 48000,
+    "completed_passes": 500,
+    "trained_intervals": 48000,
+    "next_interval": 0,
+    "best_source_update": 48000,
+    "best_score": 6.6642449733459825e-06,
+    "final_score": 6.6642449733459825e-06,
+    "score_cadence": "pass_end",
+    "scored_candidates": 501,
+    "scoring_intervals": 48096,
+    "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": 48000,
+    "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": 16.094503119000365
+      },
+      "run_id": "3f70448bfa304ddd",
+      "target": {
+        "entity": "serialexperimentsleon",
+        "project": "belt_perception",
+        "run_name": "DEFORM360_E2_ep0_92_188_20260924"
+      },
+      "heavy_modules": []
+    },
+    "close": {
+      "status": "clean",
+      "exitcode": 0,
+      "backlog": {
+        "collector_producer_backlog_bytes": 0,
+        "journal_records": 59861,
+        "journal_bytes": 136500393,
+        "sdk_submitted_records": 59861,
+        "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
+    }
+  }
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit_command.txt

@@ -0,0 +1 @@
+uv run --no-sync python scripts/run_observation_reference_fit.py fit --inputs /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/inputs/e1_20260923_ep0_92_188/fit_inputs --output /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit --device cuda:0 --execution-mode atomic_captured --max-cma-generations 100 --adam-passes 500 --observation-mode online --observation-root /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/telemetry --observation-run-name DEFORM360_E2_ep0_92_188_20260924 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_E2_ep0_92_188_20260924 --observation-approved-entity serialexperimentsleon --observation-approved-project belt_perception --observation-approved-payload DEFORM360_scalars_guide 

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit_end_unix

@@ -0,0 +1 @@
+1790289572.784165698

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/logs/fit_start_unix

@@ -0,0 +1 @@
+1790286311.350457509

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/evidence/deform360_e2_ep0_92_188_20260924/tools/launch_e2_fit.sh

@@ -0,0 +1,52 @@
+#!/usr/bin/env bash
+# E2 full-fit launcher: plan §11 E2-CONTINUE full-run operator template, D-BUDGET defaults
+# (no --diagnostic-fixture), owner allocation 2026-09-24 (cuda:0, <=3 h wall, <=10 GiB,
+# online run DEFORM360_E2_ep0_92_188_20260924, payload DEFORM360_scalars_guide).
+# No timeout wrapper: the owner allocation says report and ask at 3 h, never kill.
+set -u
+ROOT=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924
+WT=/mnt/data0/magna/belt_perception_wt_deform360_e2_full_fit
+export DEFORM_INPUTS=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/inputs/e1_20260923_ep0_92_188/fit_inputs
+export DEFORM_E2_OUTPUT=$ROOT/fit
+export DEFORM_E2_TELEMETRY=$ROOT/telemetry
+export DEFORM_E2_NAME=DEFORM360_E2_ep0_92_188_20260924
+export WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+export WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+export WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+export WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+cd "$WT"
+if [ -e "$DEFORM_E2_OUTPUT" ] || [ -e "$DEFORM_E2_TELEMETRY" ]; then
+  echo "refusing: fit/ or telemetry/ already exists (fresh launch only; resume is a separate decision)" >&2
+  exit 2
+fi
+{
+  echo "code_head=$(git rev-parse HEAD)"; echo "branch=$(git rev-parse --abbrev-ref HEAD)"
+  echo "git_status_porcelain_lines=$(git status --porcelain | wc -l)"
+  echo "python=$(.venv/bin/python -c 'import sys;print(sys.version.split()[0])')"
+  echo "versions=$(.venv/bin/python -c 'import wandb,warp,torch,cma;print(wandb.__version__,warp.__version__,torch.__version__,cma.__version__)' 2>/dev/null)"
+  echo "gpu=$(nvidia-smi --query-gpu=index,name,driver_version,memory.used,memory.total --format=csv,noheader)"
+  echo "gpu_apps=$(nvidia-smi --query-compute-apps=pid,used_memory,process_name --format=csv,noheader | tr '\n' ';')"
+  echo "wandb_env_names=$(env | cut -d= -f1 | grep '^WANDB' | sort | tr '\n' ' ')"
+  echo "WANDB_DIR=$WANDB_DIR"; echo "WANDB_DATA_DIR=$WANDB_DATA_DIR"
+  echo "WANDB_CACHE_DIR=$WANDB_CACHE_DIR"; echo "WANDB_ARTIFACT_DIR=$WANDB_ARTIFACT_DIR"
+  echo "WANDB_MODE=${WANDB_MODE:-<unset>}"
+  echo "inputs_sha256:"; (cd "$DEFORM_INPUTS" && sha256sum *)
+} > "$ROOT/logs/environment.txt"
+CMD=(uv run --no-sync python scripts/run_observation_reference_fit.py fit
+  --inputs "$DEFORM_INPUTS" --output "$DEFORM_E2_OUTPUT"
+  --device cuda:0 --execution-mode atomic_captured
+  --max-cma-generations 100 --adam-passes 500
+  --observation-mode online --observation-root "$DEFORM_E2_TELEMETRY"
+  --observation-run-name "$DEFORM_E2_NAME"
+  --observation-entity serialexperimentsleon --observation-project belt_perception
+  --observation-approved-run-name "$DEFORM_E2_NAME"
+  --observation-approved-entity serialexperimentsleon
+  --observation-approved-project belt_perception
+  --observation-approved-payload DEFORM360_scalars_guide)
+printf '%q ' "${CMD[@]}" > "$ROOT/logs/fit_command.txt"; echo >> "$ROOT/logs/fit_command.txt"
+date +%s.%N > "$ROOT/logs/fit_start_unix"
+setsid bash -c 'echo $$ > "$0/logs/fit.pgid"; exec "${@}"' "$ROOT" "${CMD[@]}" \
+  > "$ROOT/logs/fit.stdout" 2> "$ROOT/logs/fit.stderr" &
+wait $!
+echo "exit=$?" > "$ROOT/logs/fit.exit"
+date +%s.%N > "$ROOT/logs/fit_end_unix"

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/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": 6.666239762864734e-06,
+  "patience_epochs": 0,
+  "window_start_score": null,
+  "leaf_names": [
+    "log_object_edge_stiffness",
+    "raw_ground_friction",
+    "raw_ground_restitution",
+    "log_controller_edge_stiffness"
+  ],
+  "lr": 0.001,
+  "betas": [
+    0.9,
+    0.99
+  ],
+  "eps": 1e-08,
+  "spring_y_clamp": [
+    0.0,
+    100000.0
+  ],
+  "ground_restitution_clamp": [
+    0.0,
+    1.0
+  ],
+  "ground_friction_clamp": [
+    0.0,
+    2.0
+  ],
+  "clamp_at_use_only": true,
+  "metric_role": "all_data_in_sample",
+  "arrays_file": "boundary_8bcc6b963e87459f91ea86fd0d281eda.npz",
+  "optimizer_file": "boundary_8bcc6b963e87459f91ea86fd0d281eda_optimizer.pt",
+  "arrays_sha256": "0586557e3615b06ece03ce0934cb57fff27a0b0676b30d8422799e86f08b3548",
+  "optimizer_sha256": "cd084e77123456f4a5bad91424ef58309909b47d22ff2cb6a58d035b0abc3a18",
+  "stage": "adam",
+  "completed_passes": 500,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48000,
+  "adam_update_count": 48000,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 501,
+    "consumed_count": 500,
+    "last_submitted_update": 48000,
+    "last_consumed_update": 47904,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48000,
+          "completed_passes": 500,
+          "next_interval": 0,
+          "trained_intervals": 48000,
+          "snapshot": "pass_end_0500",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47904,
+  "pass_science": {
+    "completed_passes": 500,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48000,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48000,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.886245340505411e-07,
+            "update_l2": 0.006298473104834557
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.3901290003559552e-06,
+            "update_l2": 0.0007935464382171631
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 4.9945288793651343e-08,
+            "update_l2": 0.002551275072619319
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.069208428816637e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.069208428816637e-05,
+          "observation_loss": 1.069208428816637e-05,
+          "chamfer": 7.970455044414848e-06,
+          "track": 2.7216290163778467e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 500,
+        "adam_update_count": 48000
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022331088001010357
+  },
+  "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_8bcc6b963e87459f91ea86fd0d281eda_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 501,
+  "next_interval": 0,
+  "next_adam_update": 48001,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 500,
+    "trained_intervals": 48000,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 48000,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
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+      "median": 10.41120433807373,
+      "max": 11.52308464050293,
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+      "median": 0.4981955885887146,
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+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
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+      "median": 10.320558547973633,
+      "max": 11.522106170654297,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
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+      "max": 100000.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
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+    "object_edge_enabled": {
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+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 728.8297729492188,
+      "median": 30350.205078125,
+      "max": 100000.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4981955885887146,
+      "median": 0.4981955885887146,
+      "max": 0.4981955885887146,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 952,
+    "controller_edge_stiffness": 108
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

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