serialexperimentsleon commited on
Commit
79989e7
·
verified ·
1 Parent(s): e8354b7

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo: payload batch 19/26

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0274.json +423 -0
  2. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0275.json +423 -0
  3. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0276.json +423 -0
  4. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0277.json +423 -0
  5. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0278.json +423 -0
  6. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0279.json +423 -0
  7. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0280.json +423 -0
  8. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0281.json +423 -0
  9. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0282.json +423 -0
  10. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0283.json +423 -0
  11. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0284.json +423 -0
  12. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0285.json +423 -0
  13. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0286.json +423 -0
  14. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0287.json +423 -0
  15. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0288.json +423 -0
  16. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0289.json +423 -0
  17. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0290.json +423 -0
  18. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0291.json +423 -0
  19. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0292.json +423 -0
  20. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0293.json +423 -0
  21. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0294.json +423 -0
  22. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0295.json +423 -0
  23. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0296.json +423 -0
  24. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0297.json +423 -0
  25. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0298.json +423 -0
  26. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0299.json +423 -0
  27. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0300.json +423 -0
  28. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0301.json +423 -0
  29. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0302.json +423 -0
  30. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0303.json +423 -0
  31. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0304.json +423 -0
  32. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0305.json +423 -0
  33. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0306.json +423 -0
  34. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0307.json +423 -0
  35. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0308.json +423 -0
  36. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0309.json +423 -0
  37. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0310.json +423 -0
  38. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0311.json +423 -0
  39. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0312.json +423 -0
  40. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0313.json +423 -0
  41. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0314.json +423 -0
  42. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0315.json +423 -0
  43. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0316.json +423 -0
  44. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0317.json +423 -0
  45. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0318.json +423 -0
  46. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0319.json +423 -0
  47. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0320.json +423 -0
  48. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0321.json +423 -0
  49. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0322.json +423 -0
  50. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0323.json +423 -0
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0274.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0274",
5
+ "executed_epochs": 274,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_6dab293e30d843f29bfeb0ba5ace5e43.npz",
37
+ "optimizer_file": "boundary_6dab293e30d843f29bfeb0ba5ace5e43_optimizer.pt",
38
+ "arrays_sha256": "de1de63d97c50b0971fc947b1b60f470f43f6244840d784f18c0049ae26b3298",
39
+ "optimizer_sha256": "4f76e4804b7e649071ce5dcd655699f3e5d3addc9178b48f5444f28540eeeaa1",
40
+ "stage": "adam",
41
+ "completed_passes": 274,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 45484,
45
+ "adam_update_count": 45484,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 275,
49
+ "consumed_count": 274,
50
+ "last_submitted_update": 45484,
51
+ "last_consumed_update": 45318,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 45484,
56
+ "completed_passes": 274,
57
+ "next_interval": 0,
58
+ "trained_intervals": 45484,
59
+ "snapshot": "pass_end_0274",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 274,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 45484,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 45484,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010487189865671098,
83
+ "update_l2": 4.028789044241421e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2206100109324325e-05,
95
+ "update_l2": 1.7341986676910892e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06051010323657718,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06051010323657718,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021091166883707047,
129
+ "ssim_fused": 0.9525951743125916,
130
+ "seg_l1": 0.030835259705781937,
131
+ "seg_ssim_ref": 0.9525951743125916,
132
+ "depth": 0.007033925196796126,
133
+ "rgb_loss": 0.026353895664215088,
134
+ "seg_loss": 0.0341491736471653,
135
+ "total": 0.06051010323657718
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02922200784087181,
141
+ "ssim_fused": 0.9367613196372986,
142
+ "seg_l1": 0.032657332718372345,
143
+ "seg_ssim_ref": 0.9367616176605225,
144
+ "depth": 0.005402753101202867,
145
+ "rgb_loss": 0.03602534160017967,
146
+ "seg_loss": 0.0387735441327095,
147
+ "total": 0.07480428476070008,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005402753101202867,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004845008960577867
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024750975891947746,
174
+ "ssim_fused": 0.948154091835022,
175
+ "seg_l1": 0.04015729948878288,
176
+ "seg_ssim_ref": 0.948154091835022,
177
+ "depth": 0.01034163163332967,
178
+ "rgb_loss": 0.030169961974024773,
179
+ "seg_loss": 0.04249502345919609,
180
+ "total": 0.07267532520220904,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01034163163332967,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009693934150690784
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014201139099895954,
207
+ "ssim_fused": 0.9651691913604736,
208
+ "seg_l1": 0.023464728146791458,
209
+ "seg_ssim_ref": 0.9651690125465393,
210
+ "depth": 0.006347553777251806,
211
+ "rgb_loss": 0.018327074125409126,
212
+ "seg_loss": 0.025737980380654335,
213
+ "total": 0.04407140205984071,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006347553777251806,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006347553777251807
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01619054563343525,
240
+ "ssim_fused": 0.9602961540222168,
241
+ "seg_l1": 0.02706168405711651,
242
+ "seg_ssim_ref": 0.9602959752082825,
243
+ "depth": 0.006043762275400157,
244
+ "rgb_loss": 0.02089320495724678,
245
+ "seg_loss": 0.029590152204036713,
246
+ "total": 0.05048940092355889,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006043762275400157,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006043762275400157
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 274,
281
+ "adam_update_count": 45484
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.258648747112602
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_6dab293e30d843f29bfeb0ba5ace5e43_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 275,
293
+ "next_interval": 0,
294
+ "next_adam_update": 45485,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 274,
300
+ "trained_intervals": 45484,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 45484,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8365815877914429,
333
+ "median": 7.354195594787598,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8359415531158447,
354
+ "median": 5.553477764129639,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15936125814914703,
361
+ "median": 1562.7393798828125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02158101089298725,
382
+ "median": 258.302734375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0275.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0275",
5
+ "executed_epochs": 275,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_ae57a51719104649b65004bbd1d01fcd.npz",
37
+ "optimizer_file": "boundary_ae57a51719104649b65004bbd1d01fcd_optimizer.pt",
38
+ "arrays_sha256": "0f70cd017de456dd6d4eb7f3bd411be59c10f35567e7c82243a5625095a2f2a7",
39
+ "optimizer_sha256": "d7313d54ba8d86e5d06d21e13de6a56ba51847c24f2d556a241d9296ef28a917",
40
+ "stage": "adam",
41
+ "completed_passes": 275,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 45650,
45
+ "adam_update_count": 45650,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 276,
49
+ "consumed_count": 275,
50
+ "last_submitted_update": 45650,
51
+ "last_consumed_update": 45484,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 45650,
56
+ "completed_passes": 275,
57
+ "next_interval": 0,
58
+ "trained_intervals": 45650,
59
+ "snapshot": "pass_end_0275",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 275,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 45650,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 45650,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001039835624396801,
83
+ "update_l2": 9.289904846809804e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2626760508283041e-05,
95
+ "update_l2": 3.9283859223360196e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06092000222820628,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06092000222820628,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021250417456030846,
129
+ "ssim_fused": 0.9523459672927856,
130
+ "seg_l1": 0.031063659116625786,
131
+ "seg_ssim_ref": 0.9523458480834961,
132
+ "depth": 0.007109074479220306,
133
+ "rgb_loss": 0.026531146839261055,
134
+ "seg_loss": 0.034381747245788574,
135
+ "total": 0.06092000222820628
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029644209891557693,
141
+ "ssim_fused": 0.936105489730835,
142
+ "seg_l1": 0.03318742662668228,
143
+ "seg_ssim_ref": 0.9361058473587036,
144
+ "depth": 0.005503774930996976,
145
+ "rgb_loss": 0.03649426996707916,
146
+ "seg_loss": 0.03932877257466316,
147
+ "total": 0.07582854259138302,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005503774930996976,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004946030790371976
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02483270689845085,
174
+ "ssim_fused": 0.9479897022247314,
175
+ "seg_l1": 0.040288083255290985,
176
+ "seg_ssim_ref": 0.9479896426200867,
177
+ "depth": 0.010388342753434037,
178
+ "rgb_loss": 0.030268225818872452,
179
+ "seg_loss": 0.042632538825273514,
180
+ "total": 0.0729111529868994,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010388342753434037,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009740645270795148
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014265159144997597,
207
+ "ssim_fused": 0.9650673866271973,
208
+ "seg_l1": 0.023577623069286346,
209
+ "seg_ssim_ref": 0.9650672674179077,
210
+ "depth": 0.006433969886575619,
211
+ "rgb_loss": 0.018398649990558624,
212
+ "seg_loss": 0.025848645716905594,
213
+ "total": 0.04425372967735079,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006433969886575619,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006433969886575618
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01625959761440754,
240
+ "ssim_fused": 0.9602211713790894,
241
+ "seg_l1": 0.02720150351524353,
242
+ "seg_ssim_ref": 0.9602208733558655,
243
+ "depth": 0.006110210345874592,
244
+ "rgb_loss": 0.02096344530582428,
245
+ "seg_loss": 0.02971702814102173,
246
+ "total": 0.050686583657191885,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006110210345874592,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006110210345874592
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 275,
281
+ "adam_update_count": 45650
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2216649749316275
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_ae57a51719104649b65004bbd1d01fcd_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 276,
293
+ "next_interval": 0,
294
+ "next_adam_update": 45651,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 275,
300
+ "trained_intervals": 45650,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 45650,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8365179300308228,
333
+ "median": 7.354238033294678,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.835999011993408,
354
+ "median": 5.553322792053223,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15937140583992004,
361
+ "median": 1562.8056640625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021579768508672714,
382
+ "median": 258.262451171875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0276.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0276",
5
+ "executed_epochs": 276,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_ff3509397a784cdd801d08edc0a850fd.npz",
37
+ "optimizer_file": "boundary_ff3509397a784cdd801d08edc0a850fd_optimizer.pt",
38
+ "arrays_sha256": "d792fd3e0c8b2624ea3b39d60e52598c2c622242ea92b6b3d8127b26d7433d97",
39
+ "optimizer_sha256": "bbae957468a95c095ec6ca36710a8078d7b223eada55fa0310ae5bfe072f6eb3",
40
+ "stage": "adam",
41
+ "completed_passes": 276,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 45816,
45
+ "adam_update_count": 45816,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 277,
49
+ "consumed_count": 276,
50
+ "last_submitted_update": 45816,
51
+ "last_consumed_update": 45650,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 45816,
56
+ "completed_passes": 276,
57
+ "next_interval": 0,
58
+ "trained_intervals": 45816,
59
+ "snapshot": "pass_end_0276",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 276,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 45816,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 45816,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010511813889024779,
83
+ "update_l2": 6.585787559743039e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2308114492043387e-05,
95
+ "update_l2": 1.0685870392990182e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06040612170460094,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06040612170460094,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021053947508335114,
129
+ "ssim_fused": 0.9526457786560059,
130
+ "seg_l1": 0.03076782450079918,
131
+ "seg_ssim_ref": 0.9526458382606506,
132
+ "depth": 0.00702524545062786,
133
+ "rgb_loss": 0.02631399780511856,
134
+ "seg_loss": 0.034085098654031754,
135
+ "total": 0.06040612170460094
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029156222939491272,
141
+ "ssim_fused": 0.9368587136268616,
142
+ "seg_l1": 0.03256407007575035,
143
+ "seg_ssim_ref": 0.9368590712547302,
144
+ "depth": 0.005386235508388684,
145
+ "rgb_loss": 0.03595323860645294,
146
+ "seg_loss": 0.038679443299770355,
147
+ "total": 0.07463806814173168,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005386235508388684,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004828491367763685
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024690203368663788,
174
+ "ssim_fused": 0.9482264518737793,
175
+ "seg_l1": 0.04002022743225098,
176
+ "seg_ssim_ref": 0.9482264518737793,
177
+ "depth": 0.010320128051038937,
178
+ "rgb_loss": 0.03010687232017517,
179
+ "seg_loss": 0.04237089306116104,
180
+ "total": 0.07248808550938725,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010320128051038937,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009672430568400045
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01418823841959238,
207
+ "ssim_fused": 0.965177595615387,
208
+ "seg_l1": 0.023432297632098198,
209
+ "seg_ssim_ref": 0.9651774168014526,
210
+ "depth": 0.006346035636029102,
211
+ "rgb_loss": 0.018315071240067482,
212
+ "seg_loss": 0.02571035549044609,
213
+ "total": 0.04403177462879475,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006346035636029102,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063460356360291025
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016181128099560738,
240
+ "ssim_fused": 0.9603204727172852,
241
+ "seg_l1": 0.027054699137806892,
242
+ "seg_ssim_ref": 0.9603202939033508,
243
+ "depth": 0.00604858260705472,
244
+ "rgb_loss": 0.0208808071911335,
245
+ "seg_loss": 0.029579700902104378,
246
+ "total": 0.05046655853849008,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.00604858260705472,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.00604858260705472
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 276,
281
+ "adam_update_count": 45816
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2162193430121988
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_ff3509397a784cdd801d08edc0a850fd_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 277,
293
+ "next_interval": 0,
294
+ "next_adam_update": 45817,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 276,
300
+ "trained_intervals": 45816,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 45816,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8469369411468506,
333
+ "median": 7.356971263885498,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.825570583343506,
354
+ "median": 5.563325881958008,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15771953761577606,
361
+ "median": 1567.0830078125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021805988624691963,
382
+ "median": 260.8584289550781,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0277.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0277",
5
+ "executed_epochs": 277,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_c8a60ded74874c0eabeabd240e640a14.npz",
37
+ "optimizer_file": "boundary_c8a60ded74874c0eabeabd240e640a14_optimizer.pt",
38
+ "arrays_sha256": "12909aeed89cf09cbf75d6a2f4bf73e6e1b189138d231a094d140abfe2306e6f",
39
+ "optimizer_sha256": "68dd2df877a4eb50ce124b658666c7e2c39b181ca7f497b69c95d69d27ec8335",
40
+ "stage": "adam",
41
+ "completed_passes": 277,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 45982,
45
+ "adam_update_count": 45982,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 278,
49
+ "consumed_count": 277,
50
+ "last_submitted_update": 45982,
51
+ "last_consumed_update": 45816,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 45982,
56
+ "completed_passes": 277,
57
+ "next_interval": 0,
58
+ "trained_intervals": 45982,
59
+ "snapshot": "pass_end_0277",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 277,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 45982,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 45982,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010859110625460744,
83
+ "update_l2": 7.707392796874046e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.271740529773524e-05,
95
+ "update_l2": 1.4429718930841773e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06074592678544536,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06074592678544536,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021186545491218567,
129
+ "ssim_fused": 0.9524533748626709,
130
+ "seg_l1": 0.030963703989982605,
131
+ "seg_ssim_ref": 0.9524534344673157,
132
+ "depth": 0.007080125785019934,
133
+ "rgb_loss": 0.026458559557795525,
134
+ "seg_loss": 0.034280285239219666,
135
+ "total": 0.06074592678544536
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02949303574860096,
141
+ "ssim_fused": 0.9363481998443604,
142
+ "seg_l1": 0.03297608345746994,
143
+ "seg_ssim_ref": 0.936348557472229,
144
+ "depth": 0.005471998657033417,
145
+ "rgb_loss": 0.036324791610240936,
146
+ "seg_loss": 0.03911115601658821,
147
+ "total": 0.07544142335077648,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005471998657033417,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004914254516408416
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024801375344395638,
174
+ "ssim_fused": 0.9480656981468201,
175
+ "seg_l1": 0.040246669203042984,
176
+ "seg_ssim_ref": 0.9480655789375305,
177
+ "depth": 0.01038109786023153,
178
+ "rgb_loss": 0.030227962881326675,
179
+ "seg_loss": 0.04258422181010246,
180
+ "total": 0.07282256578928938,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01038109786023153,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009733400377592641
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014232056215405464,
207
+ "ssim_fused": 0.9651155471801758,
208
+ "seg_l1": 0.023520076647400856,
209
+ "seg_ssim_ref": 0.965115487575531,
210
+ "depth": 0.006391719944596599,
211
+ "rgb_loss": 0.018362535163760185,
212
+ "seg_loss": 0.025792963802814484,
213
+ "total": 0.04416189254916442,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006391719944596599,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063917199445966
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01621970906853676,
240
+ "ssim_fused": 0.9602841138839722,
241
+ "seg_l1": 0.02711198851466179,
242
+ "seg_ssim_ref": 0.9602839350700378,
243
+ "depth": 0.006075686678218189,
244
+ "rgb_loss": 0.020918944850564003,
245
+ "seg_loss": 0.029632804915308952,
246
+ "total": 0.05055782545255117,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006075686678218189,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006075686678218189
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 277,
281
+ "adam_update_count": 45982
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21831921488046646
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_c8a60ded74874c0eabeabd240e640a14_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 278,
293
+ "next_interval": 0,
294
+ "next_adam_update": 45983,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 277,
300
+ "trained_intervals": 45982,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 45982,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8474844694137573,
333
+ "median": 7.35511589050293,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.825049877166748,
354
+ "median": 5.564754962921143,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1576332002878189,
361
+ "median": 1564.17822265625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021817347034811974,
382
+ "median": 261.2332763671875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0278.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0278",
5
+ "executed_epochs": 278,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_087dba1262dc4cdebc51888c8bccae56.npz",
37
+ "optimizer_file": "boundary_087dba1262dc4cdebc51888c8bccae56_optimizer.pt",
38
+ "arrays_sha256": "a62e095aa6015ca4862a90028e5d2ed01ff4528cb645334c70e79d6f44be1567",
39
+ "optimizer_sha256": "69fe075f4bf3ccb19c85a5755802420dbb3f1c34f939287bfee741f16c97136e",
40
+ "stage": "adam",
41
+ "completed_passes": 278,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46148,
45
+ "adam_update_count": 46148,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 279,
49
+ "consumed_count": 278,
50
+ "last_submitted_update": 46148,
51
+ "last_consumed_update": 45982,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46148,
56
+ "completed_passes": 278,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46148,
59
+ "snapshot": "pass_end_0278",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 278,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46148,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46148,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001056841283570975,
83
+ "update_l2": 1.3692200809600763e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2363530004222412e-05,
95
+ "update_l2": 3.7817885640833993e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06042366304591477,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06042366304591477,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021063581109046936,
129
+ "ssim_fused": 0.9526309967041016,
130
+ "seg_l1": 0.030772721394896507,
131
+ "seg_ssim_ref": 0.9526309967041016,
132
+ "depth": 0.007026988716719853,
133
+ "rgb_loss": 0.02632465772330761,
134
+ "seg_loss": 0.034091975539922714,
135
+ "total": 0.06042366304591477
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02920106053352356,
141
+ "ssim_fused": 0.9367903470993042,
142
+ "seg_l1": 0.03260563313961029,
143
+ "seg_ssim_ref": 0.9367906451225281,
144
+ "depth": 0.0053883655900285685,
145
+ "rgb_loss": 0.03600277751684189,
146
+ "seg_loss": 0.03872637823224068,
147
+ "total": 0.07473454783996289,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0053883655900285685,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004830621449403569
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02469503879547119,
174
+ "ssim_fused": 0.948215126991272,
175
+ "seg_l1": 0.040026355534791946,
176
+ "seg_ssim_ref": 0.948215126991272,
177
+ "depth": 0.010323668484338818,
178
+ "rgb_loss": 0.030113007873296738,
179
+ "seg_loss": 0.04237806051969528,
180
+ "total": 0.07250138833618607,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010323668484338818,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009675971001699929
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014181967824697495,
207
+ "ssim_fused": 0.9651889801025391,
208
+ "seg_l1": 0.023418422788381577,
209
+ "seg_ssim_ref": 0.9651888012886047,
210
+ "depth": 0.006346143684631937,
211
+ "rgb_loss": 0.018307778984308243,
212
+ "seg_loss": 0.025696977972984314,
213
+ "total": 0.04401110310097719,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006346143684631937,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006346143684631938
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.0161762572824955,
240
+ "ssim_fused": 0.9603296518325806,
241
+ "seg_l1": 0.027040475979447365,
242
+ "seg_ssim_ref": 0.9603294730186462,
243
+ "depth": 0.006049777107880089,
244
+ "rgb_loss": 0.020875075832009315,
245
+ "seg_loss": 0.029566485434770584,
246
+ "total": 0.05044761290653293,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006049777107880089,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006049777107880089
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 278,
281
+ "adam_update_count": 46148
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22740102000534534
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_087dba1262dc4cdebc51888c8bccae56_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 279,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46149,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 278,
300
+ "trained_intervals": 46148,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46148,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8473904132843018,
333
+ "median": 7.355123996734619,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8251380920410156,
354
+ "median": 5.564369201660156,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1576480269432068,
361
+ "median": 1564.19091796875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02181542105972767,
382
+ "median": 261.13189697265625,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0279.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0279",
5
+ "executed_epochs": 279,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_2ba051f4d57f47779603c2cd2b60bcfc.npz",
37
+ "optimizer_file": "boundary_2ba051f4d57f47779603c2cd2b60bcfc_optimizer.pt",
38
+ "arrays_sha256": "d0b1b139bfdd693441e367ec26c2ad16977c4cfc924f3de37dd4f6152b28b595",
39
+ "optimizer_sha256": "aca022b2b4528053d444ae8661112b0e1fcb127411a212c46e90f88511cd100c",
40
+ "stage": "adam",
41
+ "completed_passes": 279,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46314,
45
+ "adam_update_count": 46314,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 280,
49
+ "consumed_count": 279,
50
+ "last_submitted_update": 46314,
51
+ "last_consumed_update": 46148,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46314,
56
+ "completed_passes": 279,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46314,
59
+ "snapshot": "pass_end_0279",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 279,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46314,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46314,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.870625945040956e-05,
83
+ "update_l2": 2.3306925868382677e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2669340321735945e-05,
95
+ "update_l2": 8.631696800875943e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06079863128154399,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06079863128154399,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021206650882959366,
129
+ "ssim_fused": 0.952445924282074,
130
+ "seg_l1": 0.03100574016571045,
131
+ "seg_ssim_ref": 0.9524458646774292,
132
+ "depth": 0.007087596644173026,
133
+ "rgb_loss": 0.026476126164197922,
134
+ "seg_loss": 0.03431541472673416,
135
+ "total": 0.06079863128154399
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029505258426070213,
141
+ "ssim_fused": 0.936388373374939,
142
+ "seg_l1": 0.033023037016391754,
143
+ "seg_ssim_ref": 0.9363886117935181,
144
+ "depth": 0.0054976711551614835,
145
+ "rgb_loss": 0.03632653132081032,
146
+ "seg_loss": 0.03914070874452591,
147
+ "total": 0.07547274146178169,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0054976711551614835,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004939927014536484
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024801194667816162,
174
+ "ssim_fused": 0.9480566382408142,
175
+ "seg_l1": 0.040282681584358215,
176
+ "seg_ssim_ref": 0.9480564594268799,
177
+ "depth": 0.010396715675675983,
178
+ "rgb_loss": 0.030229628086090088,
179
+ "seg_loss": 0.042614854872226715,
180
+ "total": 0.07285487967399248,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010396715675675983,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009749018193037095
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014277488924562931,
207
+ "ssim_fused": 0.965053915977478,
208
+ "seg_l1": 0.023586386814713478,
209
+ "seg_ssim_ref": 0.9650537967681885,
210
+ "depth": 0.006392625509778866,
211
+ "rgb_loss": 0.01841120794415474,
212
+ "seg_loss": 0.025858350098133087,
213
+ "total": 0.0442759506677976,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006392625509778866,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006392625509778866
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01624266430735588,
240
+ "ssim_fused": 0.960284948348999,
241
+ "seg_l1": 0.027130858972668648,
242
+ "seg_ssim_ref": 0.9602847099304199,
243
+ "depth": 0.006063374236075777,
244
+ "rgb_loss": 0.02093714289367199,
245
+ "seg_loss": 0.029647745192050934,
246
+ "total": 0.050590953322604146,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006063374236075777,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006063374236075777
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 279,
281
+ "adam_update_count": 46314
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22135017393156886
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_2ba051f4d57f47779603c2cd2b60bcfc_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 280,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46315,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 279,
300
+ "trained_intervals": 46314,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46314,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.847800374031067,
333
+ "median": 7.355561256408691,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8247456550598145,
354
+ "median": 5.564244270324707,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15758341550827026,
361
+ "median": 1564.875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021823985502123833,
382
+ "median": 261.0904235839844,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0280.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0280",
5
+ "executed_epochs": 280,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_0833d8a5d29043b7b52213b54bfb3e74.npz",
37
+ "optimizer_file": "boundary_0833d8a5d29043b7b52213b54bfb3e74_optimizer.pt",
38
+ "arrays_sha256": "dfed44ddae3bd451be202c3fd92ae159347989dc7292d078a3b8619cca1d652a",
39
+ "optimizer_sha256": "7253fb7a9df9b044a307411f6655696b1d164ba2a1388bdcbaafeb478273ab9c",
40
+ "stage": "adam",
41
+ "completed_passes": 280,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46480,
45
+ "adam_update_count": 46480,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 281,
49
+ "consumed_count": 280,
50
+ "last_submitted_update": 46480,
51
+ "last_consumed_update": 46314,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46480,
56
+ "completed_passes": 280,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46480,
59
+ "snapshot": "pass_end_0280",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 280,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46480,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46480,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010427641245769337,
83
+ "update_l2": 5.293456342769787e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2548591257655062e-05,
95
+ "update_l2": 1.9523520677466877e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06054222554672594,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06054222554672594,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021115990355610847,
129
+ "ssim_fused": 0.9525831937789917,
130
+ "seg_l1": 0.030844612047076225,
131
+ "seg_ssim_ref": 0.9525832533836365,
132
+ "depth": 0.007042370327661888,
133
+ "rgb_loss": 0.02637614496052265,
134
+ "seg_loss": 0.03415903449058533,
135
+ "total": 0.06054222554672594
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02935066446661949,
141
+ "ssim_fused": 0.9366169571876526,
142
+ "seg_l1": 0.032782431691884995,
143
+ "seg_ssim_ref": 0.9366171956062317,
144
+ "depth": 0.005444211974263761,
145
+ "rgb_loss": 0.036157142370939255,
146
+ "seg_loss": 0.03890250623226166,
147
+ "total": 0.07506509654046548,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005444211974263761,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.0048864678336387616
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02471553348004818,
174
+ "ssim_fused": 0.9482105374336243,
175
+ "seg_l1": 0.04011254385113716,
176
+ "seg_ssim_ref": 0.9482105374336243,
177
+ "depth": 0.010348342659948134,
178
+ "rgb_loss": 0.03013031929731369,
179
+ "seg_loss": 0.042447928339242935,
180
+ "total": 0.07258859970450687,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010348342659948134,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009700645177309248
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014215215109288692,
207
+ "ssim_fused": 0.9651407599449158,
208
+ "seg_l1": 0.023471275344491005,
209
+ "seg_ssim_ref": 0.9651407599449158,
210
+ "depth": 0.006350155019517471,
211
+ "rgb_loss": 0.01834402047097683,
212
+ "seg_loss": 0.02574886754155159,
213
+ "total": 0.04409923630490279,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006350155019517471,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006350155019517471
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01618255116045475,
240
+ "ssim_fused": 0.9603646993637085,
241
+ "seg_l1": 0.02701219916343689,
242
+ "seg_ssim_ref": 0.960364580154419,
243
+ "depth": 0.006026771656918185,
244
+ "rgb_loss": 0.02087310142815113,
245
+ "seg_loss": 0.029536843299865723,
246
+ "total": 0.05041596963702862,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006026771656918185,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006026771656918184
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 280,
281
+ "adam_update_count": 46480
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21679305518046021
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_0833d8a5d29043b7b52213b54bfb3e74_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 281,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46481,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 280,
300
+ "trained_intervals": 46480,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46480,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.847800374031067,
333
+ "median": 7.355561256408691,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8247456550598145,
354
+ "median": 5.564094066619873,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15758341550827026,
361
+ "median": 1564.875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021823985502123833,
382
+ "median": 261.0499267578125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0281.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0281",
5
+ "executed_epochs": 281,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_db162757084342f8b852e8598a87a8a6.npz",
37
+ "optimizer_file": "boundary_db162757084342f8b852e8598a87a8a6_optimizer.pt",
38
+ "arrays_sha256": "4f8173d6b6ecd40854764f841caf3d79d994d56a7281b6994bd0c6c8a4ed6061",
39
+ "optimizer_sha256": "f8fdf2a9257180ff9c49aecd61c42a4d22c27023bac5c5ac6146b9a6007580fe",
40
+ "stage": "adam",
41
+ "completed_passes": 281,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46646,
45
+ "adam_update_count": 46646,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 282,
49
+ "consumed_count": 281,
50
+ "last_submitted_update": 46646,
51
+ "last_consumed_update": 46480,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46646,
56
+ "completed_passes": 281,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46646,
59
+ "snapshot": "pass_end_0281",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 281,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46646,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46646,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010564371041255072,
83
+ "update_l2": 0.00011717170855263248
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2075491213181522e-05,
95
+ "update_l2": 4.3718628148781136e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06016964598638228,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 497,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06016964598638228,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.020966365933418274,
129
+ "ssim_fused": 0.9527702331542969,
130
+ "seg_l1": 0.03062206692993641,
131
+ "seg_ssim_ref": 0.9527702331542969,
132
+ "depth": 0.006989045862477829,
133
+ "rgb_loss": 0.026219045743346214,
134
+ "seg_loss": 0.03394360840320587,
135
+ "total": 0.06016964598638228
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02898477576673031,
141
+ "ssim_fused": 0.9370955228805542,
142
+ "seg_l1": 0.032341524958610535,
143
+ "seg_ssim_ref": 0.9370958209037781,
144
+ "depth": 0.00534317960893425,
145
+ "rgb_loss": 0.035768717527389526,
146
+ "seg_loss": 0.03845405578613281,
147
+ "total": 0.07422811649313127,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.00534317960893425,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004785435468309249
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024594217538833618,
174
+ "ssim_fused": 0.9483759999275208,
175
+ "seg_l1": 0.039828237146139145,
176
+ "seg_ssim_ref": 0.9483759999275208,
177
+ "depth": 0.010260710632389205,
178
+ "rgb_loss": 0.030000174418091774,
179
+ "seg_loss": 0.042187392711639404,
180
+ "total": 0.07219782597771841,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010260710632389205,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009613013149750316
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014145618304610252,
207
+ "ssim_fused": 0.9652329087257385,
208
+ "seg_l1": 0.0233423113822937,
209
+ "seg_ssim_ref": 0.9652327299118042,
210
+ "depth": 0.006321326564247201,
211
+ "rgb_loss": 0.018269913271069527,
212
+ "seg_loss": 0.02562730386853218,
213
+ "total": 0.0439035403288111,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006321326564247201,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006321326564247201
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016140852123498917,
240
+ "ssim_fused": 0.960376501083374,
241
+ "seg_l1": 0.026976190507411957,
242
+ "seg_ssim_ref": 0.9603763222694397,
243
+ "depth": 0.00603096664434066,
244
+ "rgb_loss": 0.02083738148212433,
245
+ "seg_loss": 0.029505688697099686,
246
+ "total": 0.05034910114586835,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.00603096664434066,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.00603096664434066
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 281,
281
+ "adam_update_count": 46646
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2227761191315949
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_db162757084342f8b852e8598a87a8a6_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 282,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46647,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 281,
300
+ "trained_intervals": 46646,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46646,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8476518392562866,
333
+ "median": 7.355171203613281,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.824901819229126,
354
+ "median": 5.563764572143555,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1576068252325058,
361
+ "median": 1564.2647705078125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02182057686150074,
382
+ "median": 260.9642333984375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 497,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0282.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0282",
5
+ "executed_epochs": 282,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_419df516a311414f95827c456645ee28.npz",
37
+ "optimizer_file": "boundary_419df516a311414f95827c456645ee28_optimizer.pt",
38
+ "arrays_sha256": "3a54ee7f79c3171456e9526d6898578c42acedb80eee6ac31faa68711736908f",
39
+ "optimizer_sha256": "261dfc8668ec4eddf55485b3fda14ac163a6b91f624b577f0a13af0c14ef8ac3",
40
+ "stage": "adam",
41
+ "completed_passes": 282,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46812,
45
+ "adam_update_count": 46812,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 283,
49
+ "consumed_count": 282,
50
+ "last_submitted_update": 46812,
51
+ "last_consumed_update": 46646,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46812,
56
+ "completed_passes": 282,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46812,
59
+ "snapshot": "pass_end_0282",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 282,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46812,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46812,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010626199218677357,
83
+ "update_l2": 0.00020377387409098446
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2412284377205651e-05,
95
+ "update_l2": 8.491514745401219e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06051938187065843,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06051938187065843,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021102702245116234,
129
+ "ssim_fused": 0.9525953531265259,
130
+ "seg_l1": 0.030835386365652084,
131
+ "seg_ssim_ref": 0.9525952935218811,
132
+ "depth": 0.007036586434880414,
133
+ "rgb_loss": 0.02636309713125229,
134
+ "seg_loss": 0.034149251878261566,
135
+ "total": 0.06051938187065843
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02929251454770565,
141
+ "ssim_fused": 0.9366925358772278,
142
+ "seg_l1": 0.0327206626534462,
143
+ "seg_ssim_ref": 0.9366928935050964,
144
+ "depth": 0.005432050147265093,
145
+ "rgb_loss": 0.036095503717660904,
146
+ "seg_loss": 0.03883795440196991,
147
+ "total": 0.07493888644448778,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005432050147265093,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004874306006640092
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024733470752835274,
174
+ "ssim_fused": 0.9481825232505798,
175
+ "seg_l1": 0.040148694068193436,
176
+ "seg_ssim_ref": 0.9481824040412903,
177
+ "depth": 0.010348246167574028,
178
+ "rgb_loss": 0.030150271952152252,
179
+ "seg_loss": 0.04248247668147087,
180
+ "total": 0.0726430931545004,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010348246167574028,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009700548684935136
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014205770567059517,
207
+ "ssim_fused": 0.9651546478271484,
208
+ "seg_l1": 0.02346062660217285,
209
+ "seg_ssim_ref": 0.9651544690132141,
210
+ "depth": 0.006337323076253653,
211
+ "rgb_loss": 0.018333686515688896,
212
+ "seg_loss": 0.025737609714269638,
213
+ "total": 0.04407763169038964,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006337323076253653,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006337323076253653
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016179053112864494,
240
+ "ssim_fused": 0.9603515863418579,
241
+ "seg_l1": 0.027011554688215256,
242
+ "seg_ssim_ref": 0.9603514075279236,
243
+ "depth": 0.006028726348428883,
244
+ "rgb_loss": 0.020872924476861954,
245
+ "seg_loss": 0.029538962990045547,
246
+ "total": 0.05041791619325593,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006028726348428883,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006028726348428884
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 282,
281
+ "adam_update_count": 46812
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.24143807380460203
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_419df516a311414f95827c456645ee28_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 283,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46813,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 282,
300
+ "trained_intervals": 46812,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46812,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8514785766601562,
333
+ "median": 7.356321334838867,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.820941925048828,
354
+ "median": 5.564249038696289,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15700486302375793,
361
+ "median": 1566.06494140625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021907156333327293,
382
+ "median": 261.06201171875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0283.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0283",
5
+ "executed_epochs": 283,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_77c2d2a76a54403aa73787fbc650d166.npz",
37
+ "optimizer_file": "boundary_77c2d2a76a54403aa73787fbc650d166_optimizer.pt",
38
+ "arrays_sha256": "a834c47047cd814e288027ffe0a80486784a3172c4a3c6613f31835bba7176f1",
39
+ "optimizer_sha256": "492ce88cc1c6f987be15b64149a3881dd743ff72d953dce186bff8505e5cd4ed",
40
+ "stage": "adam",
41
+ "completed_passes": 283,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 46978,
45
+ "adam_update_count": 46978,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 284,
49
+ "consumed_count": 283,
50
+ "last_submitted_update": 46978,
51
+ "last_consumed_update": 46812,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 46978,
56
+ "completed_passes": 283,
57
+ "next_interval": 0,
58
+ "trained_intervals": 46978,
59
+ "snapshot": "pass_end_0283",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 283,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 46978,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 46978,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010438937169965357,
83
+ "update_l2": 0.00038739852607250214
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2614922525244765e-05,
95
+ "update_l2": 0.00016286855679936707
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0607974616330742,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0607974616330742,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021195625886321068,
129
+ "ssim_fused": 0.9524372816085815,
130
+ "seg_l1": 0.031011002138257027,
131
+ "seg_ssim_ref": 0.9524373412132263,
132
+ "depth": 0.007085826682958739,
133
+ "rgb_loss": 0.02646903693675995,
134
+ "seg_loss": 0.034321337938308716,
135
+ "total": 0.0607974616330742
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02941557765007019,
141
+ "ssim_fused": 0.9364807605743408,
142
+ "seg_l1": 0.032910432666540146,
143
+ "seg_ssim_ref": 0.9364811182022095,
144
+ "depth": 0.005448873711980673,
145
+ "rgb_loss": 0.03623631224036217,
146
+ "seg_loss": 0.03903212398290634,
147
+ "total": 0.0752738813716902,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005448873711980673,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004891129571355673
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024841563776135445,
174
+ "ssim_fused": 0.9479944109916687,
175
+ "seg_l1": 0.040328167378902435,
176
+ "seg_ssim_ref": 0.9479944109916687,
177
+ "depth": 0.01039645375347308,
178
+ "rgb_loss": 0.030274368822574615,
179
+ "seg_loss": 0.04266365244984627,
180
+ "total": 0.07294842145146466,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01039645375347308,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009748756270834193
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014267531223595142,
207
+ "ssim_fused": 0.9650672078132629,
208
+ "seg_l1": 0.0235992930829525,
209
+ "seg_ssim_ref": 0.9650670886039734,
210
+ "depth": 0.006404354463195324,
211
+ "rgb_loss": 0.018400583416223526,
212
+ "seg_loss": 0.025866016745567322,
213
+ "total": 0.044273004516254044,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006404354463195324,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006404354463195325
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01625782996416092,
240
+ "ssim_fused": 0.9602068662643433,
241
+ "seg_l1": 0.027206113561987877,
242
+ "seg_ssim_ref": 0.9602066874504089,
243
+ "depth": 0.006093624803185877,
244
+ "rgb_loss": 0.020964890718460083,
245
+ "seg_loss": 0.029723554849624634,
246
+ "total": 0.050694539192887904,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006093624803185877,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006093624803185877
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 283,
281
+ "adam_update_count": 46978
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2196744040120393
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_77c2d2a76a54403aa73787fbc650d166_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 284,
293
+ "next_interval": 0,
294
+ "next_adam_update": 46979,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 283,
300
+ "trained_intervals": 46978,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 46978,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8505624532699585,
333
+ "median": 7.356173038482666,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.821868658065796,
354
+ "median": 5.563381195068359,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15714874863624573,
361
+ "median": 1565.8326416015625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02188686467707157,
382
+ "median": 260.8414306640625,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0284.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0284",
5
+ "executed_epochs": 284,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_5182d04ec9a8440eb0a39b581e08bfb9.npz",
37
+ "optimizer_file": "boundary_5182d04ec9a8440eb0a39b581e08bfb9_optimizer.pt",
38
+ "arrays_sha256": "25a7eb538a8e919556b89c8310d2634618507aa143395a74691c69071e236f0e",
39
+ "optimizer_sha256": "199c7d9d6d2e569e06774f516b66d9301fb0037c69f52d6dd1f8bb7f5cfa9771",
40
+ "stage": "adam",
41
+ "completed_passes": 284,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 47144,
45
+ "adam_update_count": 47144,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 285,
49
+ "consumed_count": 284,
50
+ "last_submitted_update": 47144,
51
+ "last_consumed_update": 46978,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47144,
56
+ "completed_passes": 284,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47144,
59
+ "snapshot": "pass_end_0284",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 284,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 47144,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 47144,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.653298184275627e-05,
83
+ "update_l2": 0.0004285978793632239
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3011525879846886e-05,
95
+ "update_l2": 0.00018420514243189245
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06094868665659352,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06094868665659352,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02125876024365425,
129
+ "ssim_fused": 0.9523575305938721,
130
+ "seg_l1": 0.03109697997570038,
131
+ "seg_ssim_ref": 0.9523575901985168,
132
+ "depth": 0.007111561536021117,
133
+ "rgb_loss": 0.026535503566265106,
134
+ "seg_loss": 0.03440607339143753,
135
+ "total": 0.06094868665659352
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029603486880660057,
141
+ "ssim_fused": 0.9361979961395264,
142
+ "seg_l1": 0.03314591199159622,
143
+ "seg_ssim_ref": 0.9361982941627502,
144
+ "depth": 0.005518758414602683,
145
+ "rgb_loss": 0.03644318878650665,
146
+ "seg_loss": 0.03927706927061081,
147
+ "total": 0.07572577681553207,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005518758414602683,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004961014273977683
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024888452142477036,
174
+ "ssim_fused": 0.9479571580886841,
175
+ "seg_l1": 0.04046596586704254,
176
+ "seg_ssim_ref": 0.9479571580886841,
177
+ "depth": 0.01046088956847192,
178
+ "rgb_loss": 0.030319329351186752,
179
+ "seg_loss": 0.042781341820955276,
180
+ "total": 0.07311113206171051,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01046088956847192,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00981319208583303
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01428959146142006,
207
+ "ssim_fused": 0.9650473594665527,
208
+ "seg_l1": 0.023624788969755173,
209
+ "seg_ssim_ref": 0.965047299861908,
210
+ "depth": 0.0064013816375601,
211
+ "rgb_loss": 0.0184222012758255,
212
+ "seg_loss": 0.025890372693538666,
213
+ "total": 0.044318975351001724,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0064013816375601,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0064013816375601
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01625351794064045,
240
+ "ssim_fused": 0.9602276086807251,
241
+ "seg_l1": 0.027151253074407578,
242
+ "seg_ssim_ref": 0.9602274894714355,
243
+ "depth": 0.0060652165234497644,
244
+ "rgb_loss": 0.02095729298889637,
245
+ "seg_loss": 0.029675506055355072,
246
+ "total": 0.050638862398129744,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060652165234497644,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060652165234497644
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 284,
281
+ "adam_update_count": 47144
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2207925410475582
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_5182d04ec9a8440eb0a39b581e08bfb9_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 285,
293
+ "next_interval": 0,
294
+ "next_adam_update": 47145,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 284,
300
+ "trained_intervals": 47144,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47144,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8487489223480225,
333
+ "median": 7.354869365692139,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.823620319366455,
354
+ "median": 5.560074806213379,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15743401646614075,
361
+ "median": 1563.792724609375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021848559379577637,
382
+ "median": 259.9200439453125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0285.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0285",
5
+ "executed_epochs": 285,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_5ba6f501052848389a4238b96bff61ab.npz",
37
+ "optimizer_file": "boundary_5ba6f501052848389a4238b96bff61ab_optimizer.pt",
38
+ "arrays_sha256": "dde335c090ec6f8e07565c2e102590b2d5c2ba9badad7045d441ced7147e9ee0",
39
+ "optimizer_sha256": "ad2c1e66d9e150d57f31e8e4c646ed75bb4d6f30ec52e35f2daf3140882c73ac",
40
+ "stage": "adam",
41
+ "completed_passes": 285,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 47310,
45
+ "adam_update_count": 47310,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 286,
49
+ "consumed_count": 285,
50
+ "last_submitted_update": 47310,
51
+ "last_consumed_update": 47144,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47310,
56
+ "completed_passes": 285,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47310,
59
+ "snapshot": "pass_end_0285",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 285,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 47310,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 47310,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010032516001956537,
83
+ "update_l2": 0.00044967985013499856
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.247507861990016e-05,
95
+ "update_l2": 0.00020877693896181881
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06061669631979056,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06061669631979056,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021137846633791924,
129
+ "ssim_fused": 0.9525482654571533,
130
+ "seg_l1": 0.03089834377169609,
131
+ "seg_ssim_ref": 0.9525483250617981,
132
+ "depth": 0.007050178261469249,
133
+ "rgb_loss": 0.026400623843073845,
134
+ "seg_loss": 0.03420902043581009,
135
+ "total": 0.06061669631979056
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029349133372306824,
141
+ "ssim_fused": 0.9366212487220764,
142
+ "seg_l1": 0.03281475231051445,
143
+ "seg_ssim_ref": 0.9366215467453003,
144
+ "depth": 0.0054479034103041835,
145
+ "rgb_loss": 0.036155056208372116,
146
+ "seg_loss": 0.03892749175429344,
147
+ "total": 0.07508799586607587,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0054479034103041835,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004890159269679183
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02476828172802925,
174
+ "ssim_fused": 0.9481244683265686,
175
+ "seg_l1": 0.040217332541942596,
176
+ "seg_ssim_ref": 0.9481244683265686,
177
+ "depth": 0.010367310292093186,
178
+ "rgb_loss": 0.03018973208963871,
179
+ "seg_loss": 0.042548976838588715,
180
+ "total": 0.07274907437587437,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010367310292093186,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009719612809454298
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014231384731829166,
207
+ "ssim_fused": 0.9651212692260742,
208
+ "seg_l1": 0.023506220430135727,
209
+ "seg_ssim_ref": 0.9651211500167847,
210
+ "depth": 0.006350315529083213,
211
+ "rgb_loss": 0.01836085505783558,
212
+ "seg_loss": 0.025780746713280678,
213
+ "total": 0.04414795208664534,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006350315529083213,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006350315529083212
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01620258204638958,
240
+ "ssim_fused": 0.960326075553894,
241
+ "seg_l1": 0.02705506980419159,
242
+ "seg_ssim_ref": 0.9603258967399597,
243
+ "depth": 0.00603518381439641,
244
+ "rgb_loss": 0.020896852016448975,
245
+ "seg_loss": 0.02957887575030327,
246
+ "total": 0.05048176295056664,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.00603518381439641,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006035183814396409
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 285,
281
+ "adam_update_count": 47310
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.23566746897995472
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_5ba6f501052848389a4238b96bff61ab_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 286,
293
+ "next_interval": 0,
294
+ "next_adam_update": 47311,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 285,
300
+ "trained_intervals": 47310,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47310,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8438957929611206,
333
+ "median": 7.354820728302002,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8286004066467285,
354
+ "median": 5.558982849121094,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15819990634918213,
361
+ "median": 1563.716552734375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.0217400211840868,
382
+ "median": 259.6495361328125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0286.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0286",
5
+ "executed_epochs": 286,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_7323f1bb1a2e4cd2a4e88e847410513d.npz",
37
+ "optimizer_file": "boundary_7323f1bb1a2e4cd2a4e88e847410513d_optimizer.pt",
38
+ "arrays_sha256": "2b68d4489fde4f9e7c3e6a70bb5e1917f945f1f41f64d6c560a4949db2a2c7fb",
39
+ "optimizer_sha256": "f07f66ea27fcbb335319663728a30d0afa7271929408b695bec9d315c460cd33",
40
+ "stage": "adam",
41
+ "completed_passes": 286,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 47476,
45
+ "adam_update_count": 47476,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 287,
49
+ "consumed_count": 286,
50
+ "last_submitted_update": 47476,
51
+ "last_consumed_update": 47310,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47476,
56
+ "completed_passes": 286,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47476,
59
+ "snapshot": "pass_end_0286",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 286,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 47476,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 47476,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.394440712640062e-05,
83
+ "update_l2": 0.00011011726746801287
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.272194549528649e-05,
95
+ "update_l2": 1.2901340596727096e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06087524366117204,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06087524366117204,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021233217790722847,
129
+ "ssim_fused": 0.9524047374725342,
130
+ "seg_l1": 0.03105432353913784,
131
+ "seg_ssim_ref": 0.9524047374725342,
132
+ "depth": 0.007097763187542119,
133
+ "rgb_loss": 0.02650563232600689,
134
+ "seg_loss": 0.03436250984668732,
135
+ "total": 0.06087524366117204
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02954920381307602,
141
+ "ssim_fused": 0.9363220930099487,
142
+ "seg_l1": 0.033094827085733414,
143
+ "seg_ssim_ref": 0.9363225102424622,
144
+ "depth": 0.0055036919078049786,
145
+ "rgb_loss": 0.03637494519352913,
146
+ "seg_loss": 0.03921135887503624,
147
+ "total": 0.07559180776047317,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0055036919078049786,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004945947767179977
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024834809824824333,
174
+ "ssim_fused": 0.9480022192001343,
175
+ "seg_l1": 0.04034392535686493,
176
+ "seg_ssim_ref": 0.9480022192001343,
177
+ "depth": 0.01041277460433129,
178
+ "rgb_loss": 0.03026740625500679,
179
+ "seg_loss": 0.04267469793558121,
180
+ "total": 0.07295252069048262,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01041277460433129,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.0097650771216924
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014290150254964828,
207
+ "ssim_fused": 0.9650375843048096,
208
+ "seg_l1": 0.023613015189766884,
209
+ "seg_ssim_ref": 0.9650374054908752,
210
+ "depth": 0.006401390225364205,
211
+ "rgb_loss": 0.01842460408806801,
212
+ "seg_loss": 0.025882931426167488,
213
+ "total": 0.04431393876710601,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006401390225364205,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006401390225364206
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016258709132671356,
240
+ "ssim_fused": 0.9602569937705994,
241
+ "seg_l1": 0.027165532112121582,
242
+ "seg_ssim_ref": 0.960256814956665,
243
+ "depth": 0.006073196012668001,
244
+ "rgb_loss": 0.02095557004213333,
245
+ "seg_loss": 0.029681062325835228,
246
+ "total": 0.050642707426626375,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006073196012668001,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006073196012668001
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 286,
281
+ "adam_update_count": 47476
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21630309685133398
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_7323f1bb1a2e4cd2a4e88e847410513d_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 287,
293
+ "next_interval": 0,
294
+ "next_adam_update": 47477,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 286,
300
+ "trained_intervals": 47476,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47476,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.83431077003479,
333
+ "median": 7.355233669281006,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8381776809692383,
354
+ "median": 5.556886196136475,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15972355008125305,
361
+ "median": 1564.362548828125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021532805636525154,
382
+ "median": 259.17462158203125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0287.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0287",
5
+ "executed_epochs": 287,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_2e11f6519e8e469baab78b506c9590c2.npz",
37
+ "optimizer_file": "boundary_2e11f6519e8e469baab78b506c9590c2_optimizer.pt",
38
+ "arrays_sha256": "7f2b3c134f1f438b3930c0b75202c7db4fa8a5903a75e72586970404829452dd",
39
+ "optimizer_sha256": "d640410cdd52d8c5ee7c5c0343bcbdf380c135a57674f4ef2e2fe1b169ae3d52",
40
+ "stage": "adam",
41
+ "completed_passes": 287,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 47642,
45
+ "adam_update_count": 47642,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 288,
49
+ "consumed_count": 287,
50
+ "last_submitted_update": 47642,
51
+ "last_consumed_update": 47476,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47642,
56
+ "completed_passes": 287,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47642,
59
+ "snapshot": "pass_end_0287",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 287,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 47642,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 47642,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010199702956015244,
83
+ "update_l2": 5.029407020629151e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2529841114883311e-05,
95
+ "update_l2": 1.3803573892801069e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0606961025959136,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0606961025959136,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02115974761545658,
129
+ "ssim_fused": 0.9525070786476135,
130
+ "seg_l1": 0.03095507249236107,
131
+ "seg_ssim_ref": 0.9525070190429688,
132
+ "depth": 0.007064930188849167,
133
+ "rgb_loss": 0.026426389813423157,
134
+ "seg_loss": 0.03426264971494675,
135
+ "total": 0.0606961025959136
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02934994362294674,
141
+ "ssim_fused": 0.9366089701652527,
142
+ "seg_l1": 0.03283679485321045,
143
+ "seg_ssim_ref": 0.9366093277931213,
144
+ "depth": 0.005444374155577324,
145
+ "rgb_loss": 0.036158159375190735,
146
+ "seg_loss": 0.03894757106900215,
147
+ "total": 0.07511117109305816,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005444374155577324,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004886630014952325
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02482082135975361,
174
+ "ssim_fused": 0.9480481147766113,
175
+ "seg_l1": 0.04032270610332489,
176
+ "seg_ssim_ref": 0.9480481147766113,
177
+ "depth": 0.010402941002676573,
178
+ "rgb_loss": 0.0302470363676548,
179
+ "seg_loss": 0.042648542672395706,
180
+ "total": 0.07290598198105318,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010402941002676573,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009755243520037687
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014246748760342598,
207
+ "ssim_fused": 0.9651030898094177,
208
+ "seg_l1": 0.023552272468805313,
209
+ "seg_ssim_ref": 0.9651029109954834,
210
+ "depth": 0.006361729620109933,
211
+ "rgb_loss": 0.018376780673861504,
212
+ "seg_loss": 0.02582123503088951,
213
+ "total": 0.044204375571725976,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006361729620109933,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006361729620109933
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016221480444073677,
240
+ "ssim_fused": 0.9602680206298828,
241
+ "seg_l1": 0.02710852026939392,
242
+ "seg_ssim_ref": 0.9602678418159485,
243
+ "depth": 0.006050675977032839,
244
+ "rgb_loss": 0.02092358097434044,
245
+ "seg_loss": 0.02963324822485447,
246
+ "total": 0.05056288173781709,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006050675977032839,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060506759770328385
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 287,
281
+ "adam_update_count": 47642
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22329998505301774
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_2e11f6519e8e469baab78b506c9590c2_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 288,
293
+ "next_interval": 0,
294
+ "next_adam_update": 47643,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 287,
300
+ "trained_intervals": 47642,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47642,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8470784425735474,
333
+ "median": 7.357542037963867,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8254222869873047,
354
+ "median": 5.55817985534668,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15769721567630768,
361
+ "median": 1567.977783203125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021809224039316177,
382
+ "median": 259.4304504394531,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0288.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0288",
5
+ "executed_epochs": 288,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_5ade84a7037d4f768fd5515efdde5d96.npz",
37
+ "optimizer_file": "boundary_5ade84a7037d4f768fd5515efdde5d96_optimizer.pt",
38
+ "arrays_sha256": "11f9a71943f07eee6098c95af8080d858775a26fcd57e8fcc4c9d34ea6f9a7b7",
39
+ "optimizer_sha256": "2052b6ab9f50138ac11d287a1bbc4a7d894eb9af5d894581fab6a6007987fb5f",
40
+ "stage": "adam",
41
+ "completed_passes": 288,
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": 289,
49
+ "consumed_count": 288,
50
+ "last_submitted_update": 47808,
51
+ "last_consumed_update": 47642,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47808,
56
+ "completed_passes": 288,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47808,
59
+ "snapshot": "pass_end_0288",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 288,
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": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010321375884814188,
83
+ "update_l2": 3.4105516988347517e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2562980373331811e-05,
95
+ "update_l2": 4.129541366637568e-07
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06049914343527894,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06049914343527894,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02110062912106514,
129
+ "ssim_fused": 0.9526081681251526,
130
+ "seg_l1": 0.030818570405244827,
131
+ "seg_ssim_ref": 0.9526081085205078,
132
+ "depth": 0.0070357906017859285,
133
+ "rgb_loss": 0.02635887637734413,
134
+ "seg_loss": 0.03413322940468788,
135
+ "total": 0.06049914343527894
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02931956574320793,
141
+ "ssim_fused": 0.9366617798805237,
142
+ "seg_l1": 0.03274839371442795,
143
+ "seg_ssim_ref": 0.9366621375083923,
144
+ "depth": 0.005443389161068481,
145
+ "rgb_loss": 0.03612329810857773,
146
+ "seg_loss": 0.03886628895998001,
147
+ "total": 0.07499503045771881,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005443389161068481,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.00488564502044348
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024703988805413246,
174
+ "ssim_fused": 0.9482259154319763,
175
+ "seg_l1": 0.04009023308753967,
176
+ "seg_ssim_ref": 0.9482259154319763,
177
+ "depth": 0.010340364976299978,
178
+ "rgb_loss": 0.030118009075522423,
179
+ "seg_loss": 0.042427003383636475,
180
+ "total": 0.07255535468678034,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010340364976299978,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00969266749366109
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014205667190253735,
207
+ "ssim_fused": 0.9651584029197693,
208
+ "seg_l1": 0.02344701811671257,
209
+ "seg_ssim_ref": 0.965158224105835,
210
+ "depth": 0.006339544279974263,
211
+ "rgb_loss": 0.01833285391330719,
212
+ "seg_loss": 0.025725970044732094,
213
+ "total": 0.04406516163967411,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006339544279974263,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006339544279974263
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016173293814063072,
240
+ "ssim_fused": 0.9603864550590515,
241
+ "seg_l1": 0.026988644152879715,
242
+ "seg_ssim_ref": 0.9603862762451172,
243
+ "depth": 0.006019863989800991,
244
+ "rgb_loss": 0.020861344411969185,
245
+ "seg_loss": 0.029513660818338394,
246
+ "total": 0.05038102695694253,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006019863989800991,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006019863989800991
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 288,
281
+ "adam_update_count": 47808
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22836266993544996
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_5ade84a7037d4f768fd5515efdde5d96_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 289,
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": 288,
300
+ "trained_intervals": 47808,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47808,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8470747470855713,
333
+ "median": 7.357546329498291,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8254265785217285,
354
+ "median": 5.5581769943237305,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15769779682159424,
361
+ "median": 1567.9844970703125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021809129044413567,
382
+ "median": 259.4296875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0289.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0289",
5
+ "executed_epochs": 289,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_8cafbbcf567f44159295b5730816acbb.npz",
37
+ "optimizer_file": "boundary_8cafbbcf567f44159295b5730816acbb_optimizer.pt",
38
+ "arrays_sha256": "3d0b13c599513e60b24ce2db8888ff1f7190b95671d3cbe1d40ee5d56cb38f24",
39
+ "optimizer_sha256": "84f2ee80d10dc86e9041a6efbe43283257258307e3079c9ae5870d02a3cd27b0",
40
+ "stage": "adam",
41
+ "completed_passes": 289,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 47974,
45
+ "adam_update_count": 47974,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 290,
49
+ "consumed_count": 289,
50
+ "last_submitted_update": 47974,
51
+ "last_consumed_update": 47808,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 47974,
56
+ "completed_passes": 289,
57
+ "next_interval": 0,
58
+ "trained_intervals": 47974,
59
+ "snapshot": "pass_end_0289",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 289,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 47974,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 47974,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010675495286704972,
83
+ "update_l2": 7.2609796006872784e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2600697118614335e-05,
95
+ "update_l2": 1.376080376758182e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060559538957542035,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060559538957542035,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021125292405486107,
129
+ "ssim_fused": 0.9525715112686157,
130
+ "seg_l1": 0.030851056799292564,
131
+ "seg_ssim_ref": 0.952571451663971,
132
+ "depth": 0.007049945062248282,
133
+ "rgb_loss": 0.026385938748717308,
134
+ "seg_loss": 0.03416655212640762,
135
+ "total": 0.060559538957542035
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029382115229964256,
141
+ "ssim_fused": 0.9365697503089905,
142
+ "seg_l1": 0.03282845392823219,
143
+ "seg_ssim_ref": 0.9365701079368591,
144
+ "depth": 0.005453793476630624,
145
+ "rgb_loss": 0.03619174286723137,
146
+ "seg_loss": 0.03894874453544617,
147
+ "total": 0.07514594492144447,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005453793476630624,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004896049336005623
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.0247057992964983,
174
+ "ssim_fused": 0.9482177495956421,
175
+ "seg_l1": 0.04006829112768173,
176
+ "seg_ssim_ref": 0.9482177495956421,
177
+ "depth": 0.010341582332727913,
178
+ "rgb_loss": 0.03012108989059925,
179
+ "seg_loss": 0.04241108149290085,
180
+ "total": 0.07254251110318768,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010341582332727913,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009693884850089023
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01422014832496643,
207
+ "ssim_fused": 0.9651359915733337,
208
+ "seg_l1": 0.023471668362617493,
209
+ "seg_ssim_ref": 0.9651358127593994,
210
+ "depth": 0.006360496401111077,
211
+ "rgb_loss": 0.018348921090364456,
212
+ "seg_loss": 0.0257501732558012,
213
+ "total": 0.04410545297992162,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006360496401111077,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006360496401111078
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01619310863316059,
240
+ "ssim_fused": 0.960362434387207,
241
+ "seg_l1": 0.02703581191599369,
242
+ "seg_ssim_ref": 0.9603622555732727,
243
+ "depth": 0.006043908038523514,
244
+ "rgb_loss": 0.020882001146674156,
245
+ "seg_loss": 0.02955619990825653,
246
+ "total": 0.05044424682561436,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006043908038523514,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006043908038523514
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 289,
281
+ "adam_update_count": 47974
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2719231550581753
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_8cafbbcf567f44159295b5730816acbb_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 290,
293
+ "next_interval": 0,
294
+ "next_adam_update": 47975,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 289,
300
+ "trained_intervals": 47974,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 47974,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8471968173980713,
333
+ "median": 7.357547283172607,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.825300455093384,
354
+ "median": 5.558147430419922,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15767855942249298,
361
+ "median": 1567.986083984375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02181188017129898,
382
+ "median": 259.421142578125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0290.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0290",
5
+ "executed_epochs": 290,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_a05c58486a7b46b89d438274b86e37e4.npz",
37
+ "optimizer_file": "boundary_a05c58486a7b46b89d438274b86e37e4_optimizer.pt",
38
+ "arrays_sha256": "cf03c5eeeb5e6513a45bc0fe749ce9aa44ecc8c20c720cb2e31af4db048e5ea5",
39
+ "optimizer_sha256": "4e555e6144167adeac48b13101a2f15fb707bd1723ceb24275fd53f9a155fbba",
40
+ "stage": "adam",
41
+ "completed_passes": 290,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48140,
45
+ "adam_update_count": 48140,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 291,
49
+ "consumed_count": 290,
50
+ "last_submitted_update": 48140,
51
+ "last_consumed_update": 47974,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48140,
56
+ "completed_passes": 290,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48140,
59
+ "snapshot": "pass_end_0290",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 290,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48140,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48140,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010456740710651502,
83
+ "update_l2": 1.64156845130492e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2472398339014035e-05,
95
+ "update_l2": 2.9378779800026678e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060665254367166035,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060665254367166035,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021149881184101105,
129
+ "ssim_fused": 0.9525150656700134,
130
+ "seg_l1": 0.030930396169424057,
131
+ "seg_ssim_ref": 0.9525150656700134,
132
+ "depth": 0.007060242467402972,
133
+ "rgb_loss": 0.02641688846051693,
134
+ "seg_loss": 0.03424130752682686,
135
+ "total": 0.060665254367166035
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029337316751480103,
141
+ "ssim_fused": 0.936610758304596,
142
+ "seg_l1": 0.032810572534799576,
143
+ "seg_ssim_ref": 0.9366111159324646,
144
+ "depth": 0.0054363763398591735,
145
+ "rgb_loss": 0.03614770248532295,
146
+ "seg_loss": 0.03892623633146286,
147
+ "total": 0.07507937891841597,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0054363763398591735,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004878632199234174
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02480434626340866,
174
+ "ssim_fused": 0.9480659365653992,
175
+ "seg_l1": 0.040263596922159195,
176
+ "seg_ssim_ref": 0.9480658769607544,
177
+ "depth": 0.01037280205482617,
178
+ "rgb_loss": 0.030230291187763214,
179
+ "seg_loss": 0.042597703635692596,
180
+ "total": 0.07283836762551063,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01037280205482617,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00972510457218728
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014234851114451885,
207
+ "ssim_fused": 0.9651198983192444,
208
+ "seg_l1": 0.02352873980998993,
209
+ "seg_ssim_ref": 0.9651197195053101,
210
+ "depth": 0.00637141670361989,
211
+ "rgb_loss": 0.01836390048265457,
212
+ "seg_loss": 0.02579904906451702,
213
+ "total": 0.04416932282652036,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.00637141670361989,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.00637141670361989
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016223015263676643,
240
+ "ssim_fused": 0.9602637887001038,
241
+ "seg_l1": 0.027118679136037827,
242
+ "seg_ssim_ref": 0.9602635502815247,
243
+ "depth": 0.006060374771306653,
244
+ "rgb_loss": 0.020925655961036682,
245
+ "seg_loss": 0.02964223362505436,
246
+ "total": 0.0505739480982172,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006060374771306653,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060603747713066525
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 290,
281
+ "adam_update_count": 48140
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2258279111701995
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_a05c58486a7b46b89d438274b86e37e4_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 291,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48141,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 290,
300
+ "trained_intervals": 48140,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48140,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8472003936767578,
333
+ "median": 7.357569694519043,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8252975940704346,
354
+ "median": 5.558152198791504,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15767797827720642,
361
+ "median": 1568.021240234375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021811943501234055,
382
+ "median": 259.42230224609375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0291.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0291",
5
+ "executed_epochs": 291,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_c704a1e3efe94ac4ab28203b8555abeb.npz",
37
+ "optimizer_file": "boundary_c704a1e3efe94ac4ab28203b8555abeb_optimizer.pt",
38
+ "arrays_sha256": "696bc38c3c17ee24fd59533e085d1be9b9655bf5d9dcec60ebe0d90becf21a09",
39
+ "optimizer_sha256": "914a1deac47d4387128d1b983060d8e84d8efd81e0e511bd26d47edb635415a7",
40
+ "stage": "adam",
41
+ "completed_passes": 291,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48306,
45
+ "adam_update_count": 48306,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 292,
49
+ "consumed_count": 291,
50
+ "last_submitted_update": 48306,
51
+ "last_consumed_update": 48140,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48306,
56
+ "completed_passes": 291,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48306,
59
+ "snapshot": "pass_end_0291",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 291,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48306,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48306,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010431709961267188,
83
+ "update_l2": 3.830294372164644e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2828994840674568e-05,
95
+ "update_l2": 6.945566383365076e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06068505666905114,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06068505666905114,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02116752602159977,
129
+ "ssim_fused": 0.9524800777435303,
130
+ "seg_l1": 0.030919965356588364,
131
+ "seg_ssim_ref": 0.9524800777435303,
132
+ "depth": 0.0070756649322232835,
133
+ "rgb_loss": 0.026438022032380104,
134
+ "seg_loss": 0.034239958971738815,
135
+ "total": 0.06068505666905114
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029484933242201805,
141
+ "ssim_fused": 0.9363763332366943,
142
+ "seg_l1": 0.032962217926979065,
143
+ "seg_ssim_ref": 0.9363767504692078,
144
+ "depth": 0.005468743810323068,
145
+ "rgb_loss": 0.03631268069148064,
146
+ "seg_loss": 0.03909442573785782,
147
+ "total": 0.07541257144785848,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005468743810323068,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004910999669698067
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024737684056162834,
174
+ "ssim_fused": 0.9481300711631775,
175
+ "seg_l1": 0.04010278731584549,
176
+ "seg_ssim_ref": 0.9481300711631775,
177
+ "depth": 0.010351838948071884,
178
+ "rgb_loss": 0.03016413375735283,
179
+ "seg_loss": 0.04245621711015701,
180
+ "total": 0.07263069898116761,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010351838948071884,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009704141465432995
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014227998442947865,
207
+ "ssim_fused": 0.9651175737380981,
208
+ "seg_l1": 0.02349625527858734,
209
+ "seg_ssim_ref": 0.9651175737380981,
210
+ "depth": 0.006396368206074565,
211
+ "rgb_loss": 0.018358884379267693,
212
+ "seg_loss": 0.025773489847779274,
213
+ "total": 0.04413877059525304,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006396368206074565,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006396368206074564
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.0162194911390543,
240
+ "ssim_fused": 0.9602960348129272,
241
+ "seg_l1": 0.027118602767586708,
242
+ "seg_ssim_ref": 0.9602958559989929,
243
+ "depth": 0.006085708764423616,
244
+ "rgb_loss": 0.02091638743877411,
245
+ "seg_loss": 0.029635710641741753,
246
+ "total": 0.050558185651925436,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006085708764423616,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006085708764423615
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 291,
281
+ "adam_update_count": 48306
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22646432113833725
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_c704a1e3efe94ac4ab28203b8555abeb_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 292,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48307,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 291,
300
+ "trained_intervals": 48306,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48306,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.84721839427948,
333
+ "median": 7.357569217681885,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8252785205841064,
354
+ "median": 5.5580854415893555,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1576751470565796,
361
+ "median": 1568.0203857421875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021812358871102333,
382
+ "median": 259.4045104980469,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0292.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0292",
5
+ "executed_epochs": 292,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_94565cd58f2f48e4940e78fa1f7d401e.npz",
37
+ "optimizer_file": "boundary_94565cd58f2f48e4940e78fa1f7d401e_optimizer.pt",
38
+ "arrays_sha256": "26c3260f39bc3d1bf15e3610a558d1ece48907a2918aa872c64a8f898aeed330",
39
+ "optimizer_sha256": "214f75829fc3c891eb741e699a4edcdc0bc9c51b42f0d59d4b3c0c90cdc29f48",
40
+ "stage": "adam",
41
+ "completed_passes": 292,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48472,
45
+ "adam_update_count": 48472,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 293,
49
+ "consumed_count": 292,
50
+ "last_submitted_update": 48472,
51
+ "last_consumed_update": 48306,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48472,
56
+ "completed_passes": 292,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48472,
59
+ "snapshot": "pass_end_0292",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 292,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48472,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48472,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010499989002710208,
83
+ "update_l2": 8.674876153236255e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2697353668045253e-05,
95
+ "update_l2": 1.6326215700246394e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06075892327462521,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06075892327462521,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021192653104662895,
129
+ "ssim_fused": 0.9524492025375366,
130
+ "seg_l1": 0.03097173199057579,
131
+ "seg_ssim_ref": 0.9524492025375366,
132
+ "depth": 0.007079077113542848,
133
+ "rgb_loss": 0.02646428719162941,
134
+ "seg_loss": 0.034287553280591965,
135
+ "total": 0.06075892327462521
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029500681906938553,
141
+ "ssim_fused": 0.9363574385643005,
142
+ "seg_l1": 0.03299771249294281,
143
+ "seg_ssim_ref": 0.9363576769828796,
144
+ "depth": 0.005479979430195462,
145
+ "rgb_loss": 0.036329060792922974,
146
+ "seg_loss": 0.03912663459777832,
147
+ "total": 0.07546117537013149,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005479979430195462,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004922235289570462
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02480551227927208,
174
+ "ssim_fused": 0.9480577111244202,
175
+ "seg_l1": 0.0402563214302063,
176
+ "seg_ssim_ref": 0.9480576515197754,
177
+ "depth": 0.010378551586987193,
178
+ "rgb_loss": 0.03023286908864975,
179
+ "seg_loss": 0.04259352758526802,
180
+ "total": 0.07283677895079506,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010378551586987193,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009730854104348303
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01423954963684082,
207
+ "ssim_fused": 0.9651034474372864,
208
+ "seg_l1": 0.02352452278137207,
209
+ "seg_ssim_ref": 0.965103268623352,
210
+ "depth": 0.0063856605213984015,
211
+ "rgb_loss": 0.01837095059454441,
212
+ "seg_loss": 0.025798965245485306,
213
+ "total": 0.044176303363196265,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0063856605213984015,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063856605213984015
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016224870458245277,
240
+ "ssim_fused": 0.9602781534194946,
241
+ "seg_l1": 0.027108367532491684,
242
+ "seg_ssim_ref": 0.9602779746055603,
243
+ "depth": 0.006072116915590338,
244
+ "rgb_loss": 0.020924266427755356,
245
+ "seg_loss": 0.029631098732352257,
246
+ "total": 0.050561435414378054,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006072116915590338,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006072116915590338
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 292,
281
+ "adam_update_count": 48472
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21939512598328292
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_94565cd58f2f48e4940e78fa1f7d401e_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 293,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48473,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 292,
300
+ "trained_intervals": 48472,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48472,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.847203016281128,
333
+ "median": 7.357569217681885,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.825294256210327,
354
+ "median": 5.557950973510742,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.157677561044693,
361
+ "median": 1568.0203857421875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021812016144394875,
382
+ "median": 259.3688659667969,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0293.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0293",
5
+ "executed_epochs": 293,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_de5d4e5c29674dbda51e39154ee3d133.npz",
37
+ "optimizer_file": "boundary_de5d4e5c29674dbda51e39154ee3d133_optimizer.pt",
38
+ "arrays_sha256": "3726278a6a8aead7cecf9866e28757bad9d3ef62fe923fe8be672b0147f57396",
39
+ "optimizer_sha256": "f4db065c12950064a24d6c14af256681bff8d4c25e6cf1b6e3d4c36272725480",
40
+ "stage": "adam",
41
+ "completed_passes": 293,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48638,
45
+ "adam_update_count": 48638,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 294,
49
+ "consumed_count": 293,
50
+ "last_submitted_update": 48638,
51
+ "last_consumed_update": 48472,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48638,
56
+ "completed_passes": 293,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48638,
59
+ "snapshot": "pass_end_0293",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 293,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48638,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48638,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001042061485350132,
83
+ "update_l2": 0.00010907557589234784
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2631520803552121e-05,
95
+ "update_l2": 2.8420641683624126e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06052186786916208,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06052186786916208,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021099979057908058,
129
+ "ssim_fused": 0.9525814652442932,
130
+ "seg_l1": 0.030834298580884933,
131
+ "seg_ssim_ref": 0.952581524848938,
132
+ "depth": 0.007042472922327191,
133
+ "rgb_loss": 0.026363683864474297,
134
+ "seg_loss": 0.034151140600442886,
135
+ "total": 0.06052186786916208
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029272090643644333,
141
+ "ssim_fused": 0.936686098575592,
142
+ "seg_l1": 0.03269348293542862,
143
+ "seg_ssim_ref": 0.9366864562034607,
144
+ "depth": 0.005416835907008759,
145
+ "rgb_loss": 0.03608045354485512,
146
+ "seg_loss": 0.03881749510765076,
147
+ "total": 0.07490336176312258,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005416835907008759,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004859091766383758
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024740731343626976,
174
+ "ssim_fused": 0.9481613636016846,
175
+ "seg_l1": 0.04012681171298027,
176
+ "seg_ssim_ref": 0.9481613636016846,
177
+ "depth": 0.010343603425397693,
178
+ "rgb_loss": 0.030160311609506607,
179
+ "seg_loss": 0.04246917739510536,
180
+ "total": 0.07263983260803737,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010343603425397693,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009695905942758805
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014198316261172295,
207
+ "ssim_fused": 0.9651665687561035,
208
+ "seg_l1": 0.02345675230026245,
209
+ "seg_ssim_ref": 0.9651663899421692,
210
+ "depth": 0.00635922436247321,
211
+ "rgb_loss": 0.018325340002775192,
212
+ "seg_loss": 0.025732126086950302,
213
+ "total": 0.044063825314087965,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.00635922436247321,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.00635922436247321
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01618877798318863,
240
+ "ssim_fused": 0.9603119492530823,
241
+ "seg_l1": 0.02706015296280384,
242
+ "seg_ssim_ref": 0.960311770439148,
243
+ "depth": 0.0060502279944291025,
244
+ "rgb_loss": 0.020888634026050568,
245
+ "seg_loss": 0.029585767537355423,
246
+ "total": 0.05048045179140042,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060502279944291025,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060502279944291025
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 293,
281
+ "adam_update_count": 48638
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21965761692263186
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_de5d4e5c29674dbda51e39154ee3d133_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 294,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48639,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 293,
300
+ "trained_intervals": 48638,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48638,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8551281690597534,
333
+ "median": 7.3583855628967285,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.817284107208252,
354
+ "median": 5.557641506195068,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1564328968524933,
361
+ "median": 1569.301025390625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021987436339259148,
382
+ "median": 259.2442321777344,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0294.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0294",
5
+ "executed_epochs": 294,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_e370eb6d587e4d2bab2944115aeffe70.npz",
37
+ "optimizer_file": "boundary_e370eb6d587e4d2bab2944115aeffe70_optimizer.pt",
38
+ "arrays_sha256": "276422685daa19f867eb4a8c61c16a733b0ca4ae02e297fc8de24276dd4bc45a",
39
+ "optimizer_sha256": "8558b19bba190b9bbdbe3bafdc4388a1cc833755405088ccbd78fe3d7eda1cef",
40
+ "stage": "adam",
41
+ "completed_passes": 294,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48804,
45
+ "adam_update_count": 48804,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 295,
49
+ "consumed_count": 294,
50
+ "last_submitted_update": 48804,
51
+ "last_consumed_update": 48638,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48804,
56
+ "completed_passes": 294,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48804,
59
+ "snapshot": "pass_end_0294",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 294,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48804,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48804,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010760001168819144,
83
+ "update_l2": 6.34239477221854e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.289593092224095e-05,
95
+ "update_l2": 2.3483207769459113e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06079423303770464,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06079423303770464,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02120989002287388,
129
+ "ssim_fused": 0.952427089214325,
130
+ "seg_l1": 0.030987612903118134,
131
+ "seg_ssim_ref": 0.9524271488189697,
132
+ "depth": 0.007087058002164122,
133
+ "rgb_loss": 0.026482485234737396,
134
+ "seg_loss": 0.0343046598136425,
135
+ "total": 0.06079423303770464
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02956535667181015,
141
+ "ssim_fused": 0.9362560510635376,
142
+ "seg_l1": 0.033067092299461365,
143
+ "seg_ssim_ref": 0.9362564086914062,
144
+ "depth": 0.005497328053443797,
145
+ "rgb_loss": 0.03640107437968254,
146
+ "seg_loss": 0.03920239210128784,
147
+ "total": 0.07560896753431412,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005497328053443797,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004939583912818796
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024800652638077736,
174
+ "ssim_fused": 0.9480699300765991,
175
+ "seg_l1": 0.04024270549416542,
176
+ "seg_ssim_ref": 0.9480699300765991,
177
+ "depth": 0.010379868110189629,
178
+ "rgb_loss": 0.030226536095142365,
179
+ "seg_loss": 0.04258017987012863,
180
+ "total": 0.07281709583338118,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010379868110189629,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009732170627550739
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01424673292785883,
207
+ "ssim_fused": 0.9650956392288208,
208
+ "seg_l1": 0.023531977087259293,
209
+ "seg_ssim_ref": 0.965095579624176,
210
+ "depth": 0.006397395406252602,
211
+ "rgb_loss": 0.018378259614109993,
212
+ "seg_loss": 0.02580646611750126,
213
+ "total": 0.044191123127017506,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006397395406252602,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063973954062526
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016226818785071373,
240
+ "ssim_fused": 0.9602869153022766,
241
+ "seg_l1": 0.027108684182167053,
242
+ "seg_ssim_ref": 0.9602867364883423,
243
+ "depth": 0.006073640438770462,
244
+ "rgb_loss": 0.020924072712659836,
245
+ "seg_loss": 0.029629599303007126,
246
+ "total": 0.050559745656105735,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006073640438770462,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006073640438770462
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 294,
281
+ "adam_update_count": 48804
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21492490684613585
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_e370eb6d587e4d2bab2944115aeffe70_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 295,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48805,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 294,
300
+ "trained_intervals": 48804,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48804,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8534982204437256,
333
+ "median": 7.357288360595703,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.819124460220337,
354
+ "median": 5.558530807495117,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15668807923793793,
361
+ "median": 1567.580078125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02194700948894024,
382
+ "median": 259.4932556152344,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0295.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0295",
5
+ "executed_epochs": 295,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_155175b6339149dd9830416b266994fe.npz",
37
+ "optimizer_file": "boundary_155175b6339149dd9830416b266994fe_optimizer.pt",
38
+ "arrays_sha256": "38d84aeb852d48310dfb7543ef6ada007b43dfc0d8180e8039c6716924dd7f9a",
39
+ "optimizer_sha256": "2f8c7d6a1019d2f31a80a21d55fb9cf7f9907e9de540e2934eb183c4143df6a2",
40
+ "stage": "adam",
41
+ "completed_passes": 295,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 48970,
45
+ "adam_update_count": 48970,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 296,
49
+ "consumed_count": 295,
50
+ "last_submitted_update": 48970,
51
+ "last_consumed_update": 48804,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 48970,
56
+ "completed_passes": 295,
57
+ "next_interval": 0,
58
+ "trained_intervals": 48970,
59
+ "snapshot": "pass_end_0295",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 295,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 48970,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 48970,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010678906255634502,
83
+ "update_l2": 0.0001149463641922921
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2671504009631462e-05,
95
+ "update_l2": 5.160368891665712e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0603809713938725,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0603809713938725,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02105495147407055,
129
+ "ssim_fused": 0.9526579976081848,
130
+ "seg_l1": 0.030741482973098755,
131
+ "seg_ssim_ref": 0.9526579976081848,
132
+ "depth": 0.0070262321722446685,
133
+ "rgb_loss": 0.026312362402677536,
134
+ "seg_loss": 0.03406158462166786,
135
+ "total": 0.0603809713938725
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02922160178422928,
141
+ "ssim_fused": 0.9367741942405701,
142
+ "seg_l1": 0.03260641545057297,
143
+ "seg_ssim_ref": 0.9367744326591492,
144
+ "depth": 0.005404412265357096,
145
+ "rgb_loss": 0.03602244332432747,
146
+ "seg_loss": 0.03873024508357048,
147
+ "total": 0.07475809282016331,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005404412265357096,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004846668124732096
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024646716192364693,
174
+ "ssim_fused": 0.9482922554016113,
175
+ "seg_l1": 0.03993789479136467,
176
+ "seg_ssim_ref": 0.9482922554016113,
177
+ "depth": 0.010306994813686082,
178
+ "rgb_loss": 0.03005892224609852,
179
+ "seg_loss": 0.04229186475276947,
180
+ "total": 0.07236109213103653,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010306994813686082,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009659297331047192
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01418322790414095,
207
+ "ssim_fused": 0.9651866555213928,
208
+ "seg_l1": 0.023409530520439148,
209
+ "seg_ssim_ref": 0.9651866555213928,
210
+ "depth": 0.006353550008410692,
211
+ "rgb_loss": 0.018309250473976135,
212
+ "seg_loss": 0.025690294802188873,
213
+ "total": 0.044005898826173416,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006353550008410692,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006353550008410691
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01616825722157955,
240
+ "ssim_fused": 0.960378885269165,
241
+ "seg_l1": 0.027012094855308533,
242
+ "seg_ssim_ref": 0.9603787064552307,
243
+ "depth": 0.006039971601524804,
244
+ "rgb_loss": 0.020858827978372574,
245
+ "seg_loss": 0.029533935710787773,
246
+ "total": 0.050398801798116726,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006039971601524804,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006039971601524805
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 295,
281
+ "adam_update_count": 48970
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21598360710777342
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_155175b6339149dd9830416b266994fe_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 296,
293
+ "next_interval": 0,
294
+ "next_adam_update": 48971,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 295,
300
+ "trained_intervals": 48970,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 48970,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.854915738105774,
333
+ "median": 7.357793807983398,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.817894220352173,
354
+ "median": 5.558469772338867,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15646614134311676,
361
+ "median": 1568.37255859375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021974025294184685,
382
+ "median": 259.47442626953125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0296.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0296",
5
+ "executed_epochs": 296,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_f860d61bfd964a08b38d9b64c8af066f.npz",
37
+ "optimizer_file": "boundary_f860d61bfd964a08b38d9b64c8af066f_optimizer.pt",
38
+ "arrays_sha256": "01746e273165d355e9dd5dae574a868cc7f844d448ab6baf167494134e51d7f7",
39
+ "optimizer_sha256": "a68deefe8a6ed9b21ce583ff4aa5946208e4bf66949e4c6890c2860ebf8307f1",
40
+ "stage": "adam",
41
+ "completed_passes": 296,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49136,
45
+ "adam_update_count": 49136,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 297,
49
+ "consumed_count": 296,
50
+ "last_submitted_update": 49136,
51
+ "last_consumed_update": 48970,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49136,
56
+ "completed_passes": 296,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49136,
59
+ "snapshot": "pass_end_0296",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 296,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49136,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49136,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010574049520073459,
83
+ "update_l2": 0.00020594190573319793
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2705266271950677e-05,
95
+ "update_l2": 7.51644402043894e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06068669101681309,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06068669101681309,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02116452530026436,
129
+ "ssim_fused": 0.9524937272071838,
130
+ "seg_l1": 0.030931849032640457,
131
+ "seg_ssim_ref": 0.9524936676025391,
132
+ "depth": 0.007069022317693453,
133
+ "rgb_loss": 0.02643287554383278,
134
+ "seg_loss": 0.03424674645066261,
135
+ "total": 0.06068669101681309
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029421240091323853,
141
+ "ssim_fused": 0.9364848136901855,
142
+ "seg_l1": 0.03289409726858139,
143
+ "seg_ssim_ref": 0.9364851117134094,
144
+ "depth": 0.005461194107392286,
145
+ "rgb_loss": 0.03624003008008003,
146
+ "seg_loss": 0.03901825472712517,
147
+ "total": 0.0752637460013126,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005461194107392286,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004903449966767287
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024775763973593712,
174
+ "ssim_fused": 0.9481011033058167,
175
+ "seg_l1": 0.04019941762089729,
176
+ "seg_ssim_ref": 0.9481009244918823,
177
+ "depth": 0.010361560793568949,
178
+ "rgb_loss": 0.03020039200782776,
179
+ "seg_loss": 0.04253935068845749,
180
+ "total": 0.07275010425707881,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010361560793568949,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009713863310930061
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01423779409378767,
207
+ "ssim_fused": 0.9651039838790894,
208
+ "seg_l1": 0.02352323569357395,
209
+ "seg_ssim_ref": 0.965103805065155,
210
+ "depth": 0.006385963980073316,
211
+ "rgb_loss": 0.018369438126683235,
212
+ "seg_loss": 0.025797829031944275,
213
+ "total": 0.044173651259962435,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006385963980073316,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006385963980073316
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016223307698965073,
240
+ "ssim_fused": 0.9602850079536438,
241
+ "seg_l1": 0.027110647410154343,
242
+ "seg_ssim_ref": 0.9602848291397095,
243
+ "depth": 0.006067370389739259,
244
+ "rgb_loss": 0.02092164382338524,
245
+ "seg_loss": 0.02963155321776867,
246
+ "total": 0.0505592625488985,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006067370389739259,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006067370389739259
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 296,
281
+ "adam_update_count": 49136
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2157741750124842
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_f860d61bfd964a08b38d9b64c8af066f_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 297,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49137,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 296,
300
+ "trained_intervals": 49136,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49136,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8470139503479004,
333
+ "median": 7.3571457862854,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8257462978363037,
354
+ "median": 5.557779312133789,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15770739316940308,
361
+ "median": 1567.356689453125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021802159026265144,
382
+ "median": 259.3377380371094,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0297.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0297",
5
+ "executed_epochs": 297,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_1b65e3ec905b478eaffe7f592378e21b.npz",
37
+ "optimizer_file": "boundary_1b65e3ec905b478eaffe7f592378e21b_optimizer.pt",
38
+ "arrays_sha256": "deccde7826cacad3a095896a742257fb61ddad6140303a542b68c1b49d7e2b96",
39
+ "optimizer_sha256": "09a0cdd5bfb9d333f9b2a8fcba6cff347e0ccd05d83befe171b247bd3c25edd8",
40
+ "stage": "adam",
41
+ "completed_passes": 297,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49302,
45
+ "adam_update_count": 49302,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 298,
49
+ "consumed_count": 297,
50
+ "last_submitted_update": 49302,
51
+ "last_consumed_update": 49136,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49302,
56
+ "completed_passes": 297,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49302,
59
+ "snapshot": "pass_end_0297",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 297,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49302,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49302,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010306433978257701,
83
+ "update_l2": 0.0006696032360196114
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2778114069078583e-05,
95
+ "update_l2": 3.693904000101611e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060764238320986645,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060764238320986645,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021191880106925964,
129
+ "ssim_fused": 0.9524632692337036,
130
+ "seg_l1": 0.030986204743385315,
131
+ "seg_ssim_ref": 0.9524632692337036,
132
+ "depth": 0.0070790655416403505,
133
+ "rgb_loss": 0.02646085061132908,
134
+ "seg_loss": 0.03429630771279335,
135
+ "total": 0.060764238320986645
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.0294598788022995,
141
+ "ssim_fused": 0.9364475607872009,
142
+ "seg_l1": 0.0329536609351635,
143
+ "seg_ssim_ref": 0.9364479184150696,
144
+ "depth": 0.005476484502737876,
145
+ "rgb_loss": 0.03627839311957359,
146
+ "seg_loss": 0.03907334804534912,
147
+ "total": 0.07535722137471575,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005476484502737876,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004918740362112877
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02480906993150711,
174
+ "ssim_fused": 0.948051393032074,
175
+ "seg_l1": 0.04029550403356552,
176
+ "seg_ssim_ref": 0.948051393032074,
177
+ "depth": 0.010399247145010674,
178
+ "rgb_loss": 0.030236978083848953,
179
+ "seg_loss": 0.04262612760066986,
180
+ "total": 0.07287350120637352,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010399247145010674,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009751549662371786
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014264495112001896,
207
+ "ssim_fused": 0.965074896812439,
208
+ "seg_l1": 0.023572472855448723,
209
+ "seg_ssim_ref": 0.9650747776031494,
210
+ "depth": 0.006381493962476961,
211
+ "rgb_loss": 0.018396615982055664,
212
+ "seg_loss": 0.025843022391200066,
213
+ "total": 0.044246021729863354,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006381493962476961,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006381493962476961
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016234073787927628,
240
+ "ssim_fused": 0.9602792263031006,
241
+ "seg_l1": 0.027123181149363518,
242
+ "seg_ssim_ref": 0.9602790474891663,
243
+ "depth": 0.00605903655633589,
244
+ "rgb_loss": 0.020931413397192955,
245
+ "seg_loss": 0.029642736539244652,
246
+ "total": 0.050580208972993944,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.00605903655633589,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006059036556335892
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 297,
281
+ "adam_update_count": 49302
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2142705919686705
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_1b65e3ec905b478eaffe7f592378e21b_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 298,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49303,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 297,
300
+ "trained_intervals": 49302,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49302,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8602924346923828,
333
+ "median": 7.358570575714111,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.812648057937622,
354
+ "median": 5.558467864990234,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15562711656093597,
361
+ "median": 1569.5914306640625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022089606150984764,
382
+ "median": 259.4499206542969,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0298.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0298",
5
+ "executed_epochs": 298,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_934591e939cf4b45b34962e37c74f605.npz",
37
+ "optimizer_file": "boundary_934591e939cf4b45b34962e37c74f605_optimizer.pt",
38
+ "arrays_sha256": "55595a4a2453be7401f8fb6f05918497e4cebeab6151ea674ce2a8a831c7308f",
39
+ "optimizer_sha256": "e8bdc786a623c260624e9b3551c798f495ae522dfee09b296b46ef2cbd4b58a3",
40
+ "stage": "adam",
41
+ "completed_passes": 298,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49468,
45
+ "adam_update_count": 49468,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 299,
49
+ "consumed_count": 298,
50
+ "last_submitted_update": 49468,
51
+ "last_consumed_update": 49302,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49468,
56
+ "completed_passes": 298,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49468,
59
+ "snapshot": "pass_end_0298",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 298,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49468,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49468,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010606541763991117,
83
+ "update_l2": 9.978019807022065e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2225209502503276e-05,
95
+ "update_l2": 1.8803359125740826e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06018183679149968,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06018183679149968,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.020976604893803596,
129
+ "ssim_fused": 0.9527785778045654,
130
+ "seg_l1": 0.030631255358457565,
131
+ "seg_ssim_ref": 0.9527785778045654,
132
+ "depth": 0.006988838478155214,
133
+ "rgb_loss": 0.026225566864013672,
134
+ "seg_loss": 0.03394928202033043,
135
+ "total": 0.06018183679149968
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029020419344305992,
141
+ "ssim_fused": 0.9370755553245544,
142
+ "seg_l1": 0.032374635338783264,
143
+ "seg_ssim_ref": 0.9370759129524231,
144
+ "depth": 0.005362900135884217,
145
+ "rgb_loss": 0.035801224410533905,
146
+ "seg_loss": 0.03848452493548393,
147
+ "total": 0.07429110852086342,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005362900135884217,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004805155995259217
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02460622787475586,
174
+ "ssim_fused": 0.9483880996704102,
175
+ "seg_l1": 0.039881277829408646,
176
+ "seg_ssim_ref": 0.9483880996704102,
177
+ "depth": 0.010293107298099334,
178
+ "rgb_loss": 0.030007362365722656,
179
+ "seg_loss": 0.042227402329444885,
180
+ "total": 0.07224505780246564,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010293107298099334,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009645409815460443
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014150424860417843,
207
+ "ssim_fused": 0.9652330875396729,
208
+ "seg_l1": 0.023346880450844765,
209
+ "seg_ssim_ref": 0.9652330875396729,
210
+ "depth": 0.006302951304098694,
211
+ "rgb_loss": 0.018273722380399704,
212
+ "seg_loss": 0.0256308875977993,
213
+ "total": 0.0439109129295031,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006302951304098694,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006302951304098694
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016129344701766968,
240
+ "ssim_fused": 0.9604175686836243,
241
+ "seg_l1": 0.026922235265374184,
242
+ "seg_ssim_ref": 0.9604173898696899,
243
+ "depth": 0.005996395174538613,
244
+ "rgb_loss": 0.02081996202468872,
245
+ "seg_loss": 0.0294543094933033,
246
+ "total": 0.05028026791316656,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.005996395174538613,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.005996395174538613
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 298,
281
+ "adam_update_count": 49468
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21299334010109305
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_934591e939cf4b45b34962e37c74f605_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 299,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49469,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 298,
300
+ "trained_intervals": 49468,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49468,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8467596769332886,
333
+ "median": 7.3570709228515625,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8261218070983887,
354
+ "median": 5.557318687438965,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15774749219417572,
361
+ "median": 1567.2393798828125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021793972700834274,
382
+ "median": 259.21160888671875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0299.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0299",
5
+ "executed_epochs": 299,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_9ec6245654d3412ea1dc9ea59c2cd168.npz",
37
+ "optimizer_file": "boundary_9ec6245654d3412ea1dc9ea59c2cd168_optimizer.pt",
38
+ "arrays_sha256": "3277e11033ade8c64b86b399eea6c28f1718aa451fe74982effa68e40eb40dd9",
39
+ "optimizer_sha256": "bbbf705df35c494a9871602a5385f763a31bd283874fdbc3f858c24cf31b1d5a",
40
+ "stage": "adam",
41
+ "completed_passes": 299,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49634,
45
+ "adam_update_count": 49634,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 300,
49
+ "consumed_count": 299,
50
+ "last_submitted_update": 49634,
51
+ "last_consumed_update": 49468,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49634,
56
+ "completed_passes": 299,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49634,
59
+ "snapshot": "pass_end_0299",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 299,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49634,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49634,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010311401274520904,
83
+ "update_l2": 0.00022051170526538044
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2841694115195423e-05,
95
+ "update_l2": 5.1840652304235846e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.061043560262515964,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.061043560262515964,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021292418241500854,
129
+ "ssim_fused": 0.9522790908813477,
130
+ "seg_l1": 0.031142666935920715,
131
+ "seg_ssim_ref": 0.9522790908813477,
132
+ "depth": 0.007131825879042865,
133
+ "rgb_loss": 0.026578111574053764,
134
+ "seg_loss": 0.03445831686258316,
135
+ "total": 0.061043560262515964
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029699085280299187,
141
+ "ssim_fused": 0.93600994348526,
142
+ "seg_l1": 0.03326798975467682,
143
+ "seg_ssim_ref": 0.9360101819038391,
144
+ "depth": 0.00551759195227383,
145
+ "rgb_loss": 0.03655727952718735,
146
+ "seg_loss": 0.03941235691308975,
147
+ "total": 0.07597515403222938,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.00551759195227383,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004959847811648829
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02491425722837448,
174
+ "ssim_fused": 0.9478716254234314,
175
+ "seg_l1": 0.04045011103153229,
176
+ "seg_ssim_ref": 0.9478715658187866,
177
+ "depth": 0.010446478387802167,
178
+ "rgb_loss": 0.030357081443071365,
179
+ "seg_loss": 0.042785774916410446,
180
+ "total": 0.07315330283786961,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010446478387802167,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009798780905163278
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014278152026236057,
207
+ "ssim_fused": 0.9650600552558899,
208
+ "seg_l1": 0.023614075034856796,
209
+ "seg_ssim_ref": 0.9650598764419556,
210
+ "depth": 0.0064420743448923646,
211
+ "rgb_loss": 0.018410511314868927,
212
+ "seg_loss": 0.025879284366965294,
213
+ "total": 0.044296239618824264,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0064420743448923646,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006442074344892365
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01627817563712597,
240
+ "ssim_fused": 0.9601748585700989,
241
+ "seg_l1": 0.02723848447203636,
242
+ "seg_ssim_ref": 0.9601746797561646,
243
+ "depth": 0.006121158831203098,
244
+ "rgb_loss": 0.02098757028579712,
245
+ "seg_loss": 0.0297558531165123,
246
+ "total": 0.05074954456114062,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006121158831203098,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006121158831203098
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 299,
281
+ "adam_update_count": 49634
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21746273105964065
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_9ec6245654d3412ea1dc9ea59c2cd168_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 300,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49635,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 299,
300
+ "trained_intervals": 49634,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49634,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8470757007598877,
333
+ "median": 7.356987953186035,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8258168697357178,
354
+ "median": 5.556893348693848,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1576976478099823,
361
+ "median": 1567.109130859375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02180062048137188,
382
+ "median": 259.0966796875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0300.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0300",
5
+ "executed_epochs": 300,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_7ff8a0f7e5aa40bca95ce6cc1bdec084.npz",
37
+ "optimizer_file": "boundary_7ff8a0f7e5aa40bca95ce6cc1bdec084_optimizer.pt",
38
+ "arrays_sha256": "9eb80cf5363d34291a54310cb1588fb74f7d6c29a4769882b5a8b791682aadd0",
39
+ "optimizer_sha256": "d8bf1a05c551cda9e27512b1544594156c1599e8c0907d28eb145062a7f5902b",
40
+ "stage": "adam",
41
+ "completed_passes": 300,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49800,
45
+ "adam_update_count": 49800,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 301,
49
+ "consumed_count": 300,
50
+ "last_submitted_update": 49800,
51
+ "last_consumed_update": 49634,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49800,
56
+ "completed_passes": 300,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49800,
59
+ "snapshot": "pass_end_0300",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 300,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49800,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49800,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.843497537076473e-05,
83
+ "update_l2": 0.00036151206586509943
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.267717107111821e-05,
95
+ "update_l2": 7.807230576872826e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060608464022714664,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 498,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060608464022714664,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02113521285355091,
129
+ "ssim_fused": 0.9525492191314697,
130
+ "seg_l1": 0.030891163274645805,
131
+ "seg_ssim_ref": 0.9525492191314697,
132
+ "depth": 0.007052635390329071,
133
+ "rgb_loss": 0.026398323476314545,
134
+ "seg_loss": 0.03420308604836464,
135
+ "total": 0.060608464022714664
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02935056947171688,
141
+ "ssim_fused": 0.936611533164978,
142
+ "seg_l1": 0.0328073650598526,
143
+ "seg_ssim_ref": 0.9366117715835571,
144
+ "depth": 0.005454445360041638,
145
+ "rgb_loss": 0.03615815192461014,
146
+ "seg_loss": 0.038923539221286774,
147
+ "total": 0.07508714559125695,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005454445360041638,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004896701219416638
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024766676127910614,
174
+ "ssim_fused": 0.9481271505355835,
175
+ "seg_l1": 0.0402180515229702,
176
+ "seg_ssim_ref": 0.9481271505355835,
177
+ "depth": 0.01037109375873529,
178
+ "rgb_loss": 0.03018791228532791,
179
+ "seg_loss": 0.0425490140914917,
180
+ "total": 0.07274729747057834,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01037109375873529,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.0097233962760964
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01422642171382904,
207
+ "ssim_fused": 0.9651291370391846,
208
+ "seg_l1": 0.023496992886066437,
209
+ "seg_ssim_ref": 0.965129017829895,
210
+ "depth": 0.006350232324077644,
211
+ "rgb_loss": 0.01835530996322632,
212
+ "seg_loss": 0.025771791115403175,
213
+ "total": 0.04413344944830842,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006350232324077644,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006350232324077644
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01619718037545681,
240
+ "ssim_fused": 0.9603291153907776,
241
+ "seg_l1": 0.027042239904403687,
242
+ "seg_ssim_ref": 0.9603289365768433,
243
+ "depth": 0.0060347701184617145,
244
+ "rgb_loss": 0.02089192159473896,
245
+ "seg_loss": 0.029568005353212357,
246
+ "total": 0.05046596358071493,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060347701184617145,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060347701184617145
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 300,
281
+ "adam_update_count": 49800
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22101901983842254
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_7ff8a0f7e5aa40bca95ce6cc1bdec084_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 301,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49801,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 300,
300
+ "trained_intervals": 49800,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49800,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8549944162368774,
333
+ "median": 7.357311248779297,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8177831172943115,
354
+ "median": 5.555872917175293,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15645381808280945,
361
+ "median": 1567.615966796875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.021976467221975327,
382
+ "median": 258.784423828125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 498,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0301.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0301",
5
+ "executed_epochs": 301,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_ec6aabadb8c04e3580105ce5f6fbe0ec.npz",
37
+ "optimizer_file": "boundary_ec6aabadb8c04e3580105ce5f6fbe0ec_optimizer.pt",
38
+ "arrays_sha256": "3192cceb9eb7c97ff5dd0ceac5f191c25c3fe476343f25744df376c972449b03",
39
+ "optimizer_sha256": "92f4945bf7441c5e1d2bfe10d8b1eca1f05a13df62c95cdbdac28ba4273f3691",
40
+ "stage": "adam",
41
+ "completed_passes": 301,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 49966,
45
+ "adam_update_count": 49966,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 302,
49
+ "consumed_count": 301,
50
+ "last_submitted_update": 49966,
51
+ "last_consumed_update": 49800,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 49966,
56
+ "completed_passes": 301,
57
+ "next_interval": 0,
58
+ "trained_intervals": 49966,
59
+ "snapshot": "pass_end_0301",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 301,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 49966,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 49966,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010026055679190904,
83
+ "update_l2": 0.00021727026614826173
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2907450582133606e-05,
95
+ "update_l2": 8.50437645567581e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06061641259271579,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06061641259271579,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021144269034266472,
129
+ "ssim_fused": 0.9525381326675415,
130
+ "seg_l1": 0.030886484310030937,
131
+ "seg_ssim_ref": 0.9525381326675415,
132
+ "depth": 0.007056092507413058,
133
+ "rgb_loss": 0.026407791301608086,
134
+ "seg_loss": 0.03420156612992287,
135
+ "total": 0.06061641259271579
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029416212812066078,
141
+ "ssim_fused": 0.9365116953849792,
142
+ "seg_l1": 0.0328708291053772,
143
+ "seg_ssim_ref": 0.9365120530128479,
144
+ "depth": 0.005468695661785186,
145
+ "rgb_loss": 0.03623063117265701,
146
+ "seg_loss": 0.03899425268173218,
147
+ "total": 0.07523035255005098,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005468695661785186,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.0049109515211601855
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024745536968111992,
174
+ "ssim_fused": 0.9481573700904846,
175
+ "seg_l1": 0.04017230123281479,
176
+ "seg_ssim_ref": 0.9481573700904846,
177
+ "depth": 0.010360232736576193,
178
+ "rgb_loss": 0.03016495518386364,
179
+ "seg_loss": 0.04250636696815491,
180
+ "total": 0.07268168424740028,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010360232736576193,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009712535253937303
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01422472670674324,
207
+ "ssim_fused": 0.9651282429695129,
208
+ "seg_l1": 0.023482443764805794,
209
+ "seg_ssim_ref": 0.9651280641555786,
210
+ "depth": 0.006358028119980977,
211
+ "rgb_loss": 0.018354132771492004,
212
+ "seg_loss": 0.025760343298316002,
213
+ "total": 0.04412083596057314,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006358028119980977,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006358028119980977
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01619059592485428,
240
+ "ssim_fused": 0.9603551626205444,
241
+ "seg_l1": 0.02702036313712597,
242
+ "seg_ssim_ref": 0.9603549838066101,
243
+ "depth": 0.006037413511309876,
244
+ "rgb_loss": 0.020881444215774536,
245
+ "seg_loss": 0.029545295983552933,
246
+ "total": 0.05043277761283878,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006037413511309876,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006037413511309876
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 301,
281
+ "adam_update_count": 49966
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21272733784280717
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_ec6aabadb8c04e3580105ce5f6fbe0ec_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 302,
293
+ "next_interval": 0,
294
+ "next_adam_update": 49967,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 301,
300
+ "trained_intervals": 49966,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 49966,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8627434968948364,
333
+ "median": 7.358291149139404,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8100247383117676,
354
+ "median": 5.555661201477051,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15524612367153168,
361
+ "median": 1569.15283203125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022147631272673607,
382
+ "median": 258.7066345214844,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0302.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0302",
5
+ "executed_epochs": 302,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_d2db50547f2d43a5ac9235773260ac3e.npz",
37
+ "optimizer_file": "boundary_d2db50547f2d43a5ac9235773260ac3e_optimizer.pt",
38
+ "arrays_sha256": "fb1ccba2d2063d429228c8e0d4ae04dc09876d4198caa07a75dc9f9d69082fbc",
39
+ "optimizer_sha256": "ef2f6742373e6ea0d432839c7c17ad0a0178f57c2aec21994965ce57ddf849b0",
40
+ "stage": "adam",
41
+ "completed_passes": 302,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50132,
45
+ "adam_update_count": 50132,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 303,
49
+ "consumed_count": 302,
50
+ "last_submitted_update": 50132,
51
+ "last_consumed_update": 49966,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50132,
56
+ "completed_passes": 302,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50132,
59
+ "snapshot": "pass_end_0302",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 302,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50132,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50132,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.820488776313141e-05,
83
+ "update_l2": 0.00033411194453947246
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3081577890261542e-05,
95
+ "update_l2": 0.00013923483493272215
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06062807532134984,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06062807532134984,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02114725299179554,
129
+ "ssim_fused": 0.9525339007377625,
130
+ "seg_l1": 0.030895953997969627,
131
+ "seg_ssim_ref": 0.9525338411331177,
132
+ "depth": 0.007057731184701293,
133
+ "rgb_loss": 0.02641102857887745,
134
+ "seg_loss": 0.03420998901128769,
135
+ "total": 0.06062807532134984
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02941257134079933,
141
+ "ssim_fused": 0.9365150928497314,
142
+ "seg_l1": 0.03286610543727875,
143
+ "seg_ssim_ref": 0.9365152716636658,
144
+ "depth": 0.005470173885580153,
145
+ "rgb_loss": 0.036227039992809296,
146
+ "seg_loss": 0.0389898307621479,
147
+ "total": 0.07522234465413308,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005470173885580153,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004912429744955153
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024761373177170753,
174
+ "ssim_fused": 0.9481443762779236,
175
+ "seg_l1": 0.040215909481048584,
176
+ "seg_ssim_ref": 0.9481443762779236,
177
+ "depth": 0.010377027511975417,
178
+ "rgb_loss": 0.030180223286151886,
179
+ "seg_loss": 0.04254385456442833,
180
+ "total": 0.07273445115280189,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010377027511975417,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00972933002933653
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014224842190742493,
207
+ "ssim_fused": 0.9651293158531189,
208
+ "seg_l1": 0.023486590012907982,
209
+ "seg_ssim_ref": 0.9651293158531189,
210
+ "depth": 0.006355161741161201,
211
+ "rgb_loss": 0.018354011699557304,
212
+ "seg_loss": 0.025763409212231636,
213
+ "total": 0.0441237760735301,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006355161741161201,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006355161741161201
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016190223395824432,
240
+ "ssim_fused": 0.9603466987609863,
241
+ "seg_l1": 0.027015207335352898,
242
+ "seg_ssim_ref": 0.960346519947052,
243
+ "depth": 0.006028561600088401,
244
+ "rgb_loss": 0.02088283933699131,
245
+ "seg_loss": 0.029542861506342888,
246
+ "total": 0.05043172940493429,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006028561600088401,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006028561600088401
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 302,
281
+ "adam_update_count": 50132
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21576841897331178
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_d2db50547f2d43a5ac9235773260ac3e_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 303,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50133,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 302,
300
+ "trained_intervals": 50132,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50132,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8678536415100098,
333
+ "median": 7.356832027435303,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.805138111114502,
354
+ "median": 5.552913188934326,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1544548124074936,
361
+ "median": 1566.8648681640625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022256122902035713,
382
+ "median": 257.9891357421875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0303.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0303",
5
+ "executed_epochs": 303,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_e69e986380ef4f89b9dd712825b11fa1.npz",
37
+ "optimizer_file": "boundary_e69e986380ef4f89b9dd712825b11fa1_optimizer.pt",
38
+ "arrays_sha256": "8cc25d18732e376af7d125e39a585242ef0fe6fa0ccf618b00f8bdc98c86ee6f",
39
+ "optimizer_sha256": "16683dea9898c05a7fe0b7cd3b63892f3868aaebeb210f6e137986d333afff38",
40
+ "stage": "adam",
41
+ "completed_passes": 303,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50298,
45
+ "adam_update_count": 50298,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 304,
49
+ "consumed_count": 303,
50
+ "last_submitted_update": 50298,
51
+ "last_consumed_update": 50132,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50298,
56
+ "completed_passes": 303,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50298,
59
+ "snapshot": "pass_end_0303",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 303,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50298,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50298,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010535532055655494,
83
+ "update_l2": 0.00022122856171336025
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.306360718444921e-05,
95
+ "update_l2": 0.000123550693388097
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0607456728578516,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0607456728578516,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021190734580159187,
129
+ "ssim_fused": 0.9524521827697754,
130
+ "seg_l1": 0.030958615243434906,
131
+ "seg_ssim_ref": 0.9524521827697754,
132
+ "depth": 0.007081380576703426,
133
+ "rgb_loss": 0.026462148874998093,
134
+ "seg_loss": 0.03427644446492195,
135
+ "total": 0.0607456728578516
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02952297031879425,
141
+ "ssim_fused": 0.9363172054290771,
142
+ "seg_l1": 0.03300338238477707,
143
+ "seg_ssim_ref": 0.9363175630569458,
144
+ "depth": 0.005480387961296365,
145
+ "rgb_loss": 0.03635493665933609,
146
+ "seg_loss": 0.039139192551374435,
147
+ "total": 0.07549960587338152,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005480387961296365,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004922643820671365
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02478274516761303,
174
+ "ssim_fused": 0.9480821490287781,
175
+ "seg_l1": 0.04020628333091736,
176
+ "seg_ssim_ref": 0.9480821490287781,
177
+ "depth": 0.010371633874485787,
178
+ "rgb_loss": 0.030209766700863838,
179
+ "seg_loss": 0.04254859685897827,
180
+ "total": 0.07276873333107145,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010371633874485787,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.0097239363918469
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014236947521567345,
207
+ "ssim_fused": 0.9651101231575012,
208
+ "seg_l1": 0.023516668006777763,
209
+ "seg_ssim_ref": 0.9651100635528564,
210
+ "depth": 0.006398329148303406,
211
+ "rgb_loss": 0.018367532640695572,
212
+ "seg_loss": 0.025791320949792862,
213
+ "total": 0.04416525191963674,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006398329148303406,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006398329148303407
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016220271587371826,
240
+ "ssim_fused": 0.9602993130683899,
241
+ "seg_l1": 0.027108125388622284,
242
+ "seg_ssim_ref": 0.9602991342544556,
243
+ "depth": 0.006075171322728145,
244
+ "rgb_loss": 0.020916353911161423,
245
+ "seg_loss": 0.029626673087477684,
246
+ "total": 0.050549100307316686,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006075171322728145,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006075171322728145
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 303,
281
+ "adam_update_count": 50298
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21502595208585262
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_e69e986380ef4f89b9dd712825b11fa1_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 304,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50299,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 303,
300
+ "trained_intervals": 50298,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50298,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8798027038574219,
333
+ "median": 7.356834411621094,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7933921813964844,
354
+ "median": 5.55503511428833,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15262021124362946,
361
+ "median": 1566.86865234375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022519083693623543,
382
+ "median": 258.53826904296875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0304.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0304",
5
+ "executed_epochs": 304,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_c9eaf64b948c4aa4b45067d314996106.npz",
37
+ "optimizer_file": "boundary_c9eaf64b948c4aa4b45067d314996106_optimizer.pt",
38
+ "arrays_sha256": "2d4946d20b589c195f2ba73c7c103fca035390408df19a844aad4fc94f95245a",
39
+ "optimizer_sha256": "08686eb328b07b62ced658cebe23d2d4b6d5d918a8fefb2a7d3011bd31eec32e",
40
+ "stage": "adam",
41
+ "completed_passes": 304,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50464,
45
+ "adam_update_count": 50464,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 305,
49
+ "consumed_count": 304,
50
+ "last_submitted_update": 50464,
51
+ "last_consumed_update": 50298,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50464,
56
+ "completed_passes": 304,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50464,
59
+ "snapshot": "pass_end_0304",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 304,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50464,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50464,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010677014506654814,
83
+ "update_l2": 7.201870175777003e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2892002814623993e-05,
95
+ "update_l2": 3.969316094298847e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06081775834365554,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06081775834365554,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021212346851825714,
129
+ "ssim_fused": 0.952427864074707,
130
+ "seg_l1": 0.031014906242489815,
131
+ "seg_ssim_ref": 0.952427864074707,
132
+ "depth": 0.007089949685995688,
133
+ "rgb_loss": 0.026484308764338493,
134
+ "seg_loss": 0.03432635962963104,
135
+ "total": 0.06081775834365554
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02951553650200367,
141
+ "ssim_fused": 0.9363555908203125,
142
+ "seg_l1": 0.03302827104926109,
143
+ "seg_ssim_ref": 0.9363558888435364,
144
+ "depth": 0.005490209970082829,
145
+ "rgb_loss": 0.036341313272714615,
146
+ "seg_loss": 0.03915144130587578,
147
+ "total": 0.07549824478856047,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005490209970082829,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004932465829457828
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024818086996674538,
174
+ "ssim_fused": 0.9480279684066772,
175
+ "seg_l1": 0.04030032083392143,
176
+ "seg_ssim_ref": 0.9480279684066772,
177
+ "depth": 0.010397297389327756,
178
+ "rgb_loss": 0.03024887666106224,
179
+ "seg_loss": 0.04263466224074364,
180
+ "total": 0.07289393619919521,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010397297389327756,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009749599906688868
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01427057757973671,
207
+ "ssim_fused": 0.9650632739067078,
208
+ "seg_l1": 0.02358294278383255,
209
+ "seg_ssim_ref": 0.9650630950927734,
210
+ "depth": 0.006397329820757732,
211
+ "rgb_loss": 0.018403807654976845,
212
+ "seg_loss": 0.025853736326098442,
213
+ "total": 0.044263941310896046,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006397329820757732,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006397329820757732
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016245190054178238,
240
+ "ssim_fused": 0.9602645635604858,
241
+ "seg_l1": 0.027148092165589333,
242
+ "seg_ssim_ref": 0.9602643847465515,
243
+ "depth": 0.006074961563814432,
244
+ "rgb_loss": 0.020943239331245422,
245
+ "seg_loss": 0.029665596783161163,
246
+ "total": 0.0506149110759704,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006074961563814432,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.00607496156381443
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 304,
281
+ "adam_update_count": 50464
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22463120706379414
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_c9eaf64b948c4aa4b45067d314996106_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 305,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50465,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 304,
300
+ "trained_intervals": 50464,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50464,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8664271831512451,
333
+ "median": 7.354287147521973,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.806674003601074,
354
+ "median": 5.559262752532959,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15467530488967896,
361
+ "median": 1562.882568359375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022221967577934265,
382
+ "median": 259.63409423828125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0305.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0305",
5
+ "executed_epochs": 305,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_c4258ba0bb4949bf83a961f96b3da682.npz",
37
+ "optimizer_file": "boundary_c4258ba0bb4949bf83a961f96b3da682_optimizer.pt",
38
+ "arrays_sha256": "dd5b95d3540e90b278f94b350fb8a4774f4904063205b99f9237124315bc25d8",
39
+ "optimizer_sha256": "c955539514359831caa1b3b9dc7580623052acdea48520281470f69c6cb94b4d",
40
+ "stage": "adam",
41
+ "completed_passes": 305,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50630,
45
+ "adam_update_count": 50630,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 306,
49
+ "consumed_count": 305,
50
+ "last_submitted_update": 50630,
51
+ "last_consumed_update": 50464,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50630,
56
+ "completed_passes": 305,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50630,
59
+ "snapshot": "pass_end_0305",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 305,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50630,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50630,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010600264795357361,
83
+ "update_l2": 7.494559395126998e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2946209608344361e-05,
95
+ "update_l2": 4.745669139083475e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0606211892064774,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0606211892064774,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02114611677825451,
129
+ "ssim_fused": 0.9525318741798401,
130
+ "seg_l1": 0.030887490138411522,
131
+ "seg_ssim_ref": 0.9525319337844849,
132
+ "depth": 0.007059678074109704,
133
+ "rgb_loss": 0.026410512626171112,
134
+ "seg_loss": 0.03420361503958702,
135
+ "total": 0.0606211892064774
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029423989355564117,
141
+ "ssim_fused": 0.9365005493164062,
142
+ "seg_l1": 0.03288097307085991,
143
+ "seg_ssim_ref": 0.9365009069442749,
144
+ "depth": 0.005467379640417381,
145
+ "rgb_loss": 0.036239080131053925,
146
+ "seg_loss": 0.039004597812891006,
147
+ "total": 0.07524914904887564,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005467379640417381,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004909635499792382
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024731382727622986,
174
+ "ssim_fused": 0.9481624960899353,
175
+ "seg_l1": 0.04013075307011604,
176
+ "seg_ssim_ref": 0.9481624364852905,
177
+ "depth": 0.010351791297860652,
178
+ "rgb_loss": 0.030152607709169388,
179
+ "seg_loss": 0.04247211664915085,
180
+ "total": 0.0726350798749084,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010351791297860652,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009704093815221764
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014228446409106255,
207
+ "ssim_fused": 0.9651204347610474,
208
+ "seg_l1": 0.02348986081779003,
209
+ "seg_ssim_ref": 0.965120255947113,
210
+ "depth": 0.006370241433241818,
211
+ "rgb_loss": 0.01835867017507553,
212
+ "seg_loss": 0.025767838582396507,
213
+ "total": 0.04413288086155043,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006370241433241818,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006370241433241818
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016200648620724678,
240
+ "ssim_fused": 0.960344135761261,
241
+ "seg_l1": 0.027048369869589806,
242
+ "seg_ssim_ref": 0.9603439569473267,
243
+ "depth": 0.006049299924918967,
244
+ "rgb_loss": 0.020891692489385605,
245
+ "seg_loss": 0.029569905251264572,
246
+ "total": 0.050467647040575096,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006049299924918967,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006049299924918967
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 305,
281
+ "adam_update_count": 50630
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21124183712527156
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_c4258ba0bb4949bf83a961f96b3da682_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 306,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50631,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 305,
300
+ "trained_intervals": 50630,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50630,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.872684121131897,
333
+ "median": 7.354154109954834,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.800511121749878,
354
+ "median": 5.56318998336792,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1537105292081833,
361
+ "median": 1562.674560546875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022359341382980347,
382
+ "median": 260.65362548828125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0306.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0306",
5
+ "executed_epochs": 306,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_1e5e700705724f09862a3a75905b7aa3.npz",
37
+ "optimizer_file": "boundary_1e5e700705724f09862a3a75905b7aa3_optimizer.pt",
38
+ "arrays_sha256": "c1ac9331d9beeeeffbe82bee0afd4dac35ea3c44b67e37cddd018b44589f8923",
39
+ "optimizer_sha256": "bf0c4a119a24f6b704ea09ff059c2d7b5a14a403d62b5c2e31b72dae6f2253e3",
40
+ "stage": "adam",
41
+ "completed_passes": 306,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50796,
45
+ "adam_update_count": 50796,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 307,
49
+ "consumed_count": 306,
50
+ "last_submitted_update": 50796,
51
+ "last_consumed_update": 50630,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50796,
56
+ "completed_passes": 306,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50796,
59
+ "snapshot": "pass_end_0306",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 306,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50796,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50796,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010546921112108976,
83
+ "update_l2": 0.00011747974349418655
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.294556750508491e-05,
95
+ "update_l2": 5.052963751950301e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06055140085832889,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06055140085832889,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021119333803653717,
129
+ "ssim_fused": 0.9525687098503113,
130
+ "seg_l1": 0.03084547445178032,
131
+ "seg_ssim_ref": 0.952568769454956,
132
+ "depth": 0.007054399118973719,
133
+ "rgb_loss": 0.026381716132164,
134
+ "seg_loss": 0.03416263312101364,
135
+ "total": 0.06055140085832889
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02935994416475296,
141
+ "ssim_fused": 0.9365871548652649,
142
+ "seg_l1": 0.032788775861263275,
143
+ "seg_ssim_ref": 0.9365874528884888,
144
+ "depth": 0.005443954675913686,
145
+ "rgb_loss": 0.03617052361369133,
146
+ "seg_loss": 0.038913529366254807,
147
+ "total": 0.07508949693462205,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005443954675913686,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004886210535288685
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024694781750440598,
174
+ "ssim_fused": 0.9482145309448242,
175
+ "seg_l1": 0.040036391466856,
176
+ "seg_ssim_ref": 0.9482145309448242,
177
+ "depth": 0.01033464802924078,
178
+ "rgb_loss": 0.030112918466329575,
179
+ "seg_loss": 0.04238620772957802,
180
+ "total": 0.07250946084393683,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01033464802924078,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00968695054660189
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01422152016311884,
207
+ "ssim_fused": 0.965133011341095,
208
+ "seg_l1": 0.0234818197786808,
209
+ "seg_ssim_ref": 0.9651328921318054,
210
+ "depth": 0.0063788964177140355,
211
+ "rgb_loss": 0.018350614234805107,
212
+ "seg_loss": 0.025758877396583557,
213
+ "total": 0.044115872390451526,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0063788964177140355,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063788964177140355
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016201084479689598,
240
+ "ssim_fused": 0.9603403210639954,
241
+ "seg_l1": 0.027074921876192093,
242
+ "seg_ssim_ref": 0.960340142250061,
243
+ "depth": 0.006060097353026375,
244
+ "rgb_loss": 0.020892802625894547,
245
+ "seg_loss": 0.029591910541057587,
246
+ "total": 0.05049077326430516,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006060097353026375,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006060097353026374
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 306,
281
+ "adam_update_count": 50796
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2093537230975926
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_1e5e700705724f09862a3a75905b7aa3_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 307,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50797,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 306,
300
+ "trained_intervals": 50796,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50796,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8801525831222534,
333
+ "median": 7.353213310241699,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.793102979660034,
354
+ "median": 5.558306694030762,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1525668203830719,
361
+ "median": 1561.205078125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022525597363710403,
382
+ "median": 259.38336181640625,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0307.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0307",
5
+ "executed_epochs": 307,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_b76d31cc4389441883b4ac08e7d7d7a4.npz",
37
+ "optimizer_file": "boundary_b76d31cc4389441883b4ac08e7d7d7a4_optimizer.pt",
38
+ "arrays_sha256": "99627ff2830779041ac86ac42b4c77643dfe3fa8877f5a069fde68dfbc478e22",
39
+ "optimizer_sha256": "ba030ff77a83666858e0f24672d3fd704d7a57237579a64bf33a0a513d067d4c",
40
+ "stage": "adam",
41
+ "completed_passes": 307,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 50962,
45
+ "adam_update_count": 50962,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 308,
49
+ "consumed_count": 307,
50
+ "last_submitted_update": 50962,
51
+ "last_consumed_update": 50796,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 50962,
56
+ "completed_passes": 307,
57
+ "next_interval": 0,
58
+ "trained_intervals": 50962,
59
+ "snapshot": "pass_end_0307",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 307,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 50962,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 50962,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001047289406415075,
83
+ "update_l2": 2.5576808184268884e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2988355592824519e-05,
95
+ "update_l2": 3.99118653149344e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060623556558101206,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060623556558101206,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021142033860087395,
129
+ "ssim_fused": 0.9525114893913269,
130
+ "seg_l1": 0.030884306877851486,
131
+ "seg_ssim_ref": 0.9525114893913269,
132
+ "depth": 0.0070689209390017715,
133
+ "rgb_loss": 0.026411335915327072,
134
+ "seg_loss": 0.034205153584480286,
135
+ "total": 0.060623556558101206
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02941257692873478,
141
+ "ssim_fused": 0.9364784955978394,
142
+ "seg_l1": 0.032868046313524246,
143
+ "seg_ssim_ref": 0.936478853225708,
144
+ "depth": 0.005444799952740108,
145
+ "rgb_loss": 0.03623436391353607,
146
+ "seg_loss": 0.038998667150735855,
147
+ "total": 0.07523847213893436,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005444799952740108,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004887055812115108
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024721423164010048,
174
+ "ssim_fused": 0.9481492042541504,
175
+ "seg_l1": 0.040066588670015335,
176
+ "seg_ssim_ref": 0.9481492042541504,
177
+ "depth": 0.01034285316681955,
178
+ "rgb_loss": 0.03014729917049408,
179
+ "seg_loss": 0.04242343455553055,
180
+ "total": 0.07258107657919145,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01034285316681955,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00969515568418066
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01421867124736309,
207
+ "ssim_fused": 0.9651303887367249,
208
+ "seg_l1": 0.02348271757364273,
209
+ "seg_ssim_ref": 0.9651302695274353,
210
+ "depth": 0.00639658999482894,
211
+ "rgb_loss": 0.01834885962307453,
212
+ "seg_loss": 0.025760121643543243,
213
+ "total": 0.044115375993967455,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.00639658999482894,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006396589994828941
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01621546410024166,
240
+ "ssim_fused": 0.9602877497673035,
241
+ "seg_l1": 0.027119876816868782,
242
+ "seg_ssim_ref": 0.9602875709533691,
243
+ "depth": 0.006091440641618489,
244
+ "rgb_loss": 0.020914822816848755,
245
+ "seg_loss": 0.029638387262821198,
246
+ "total": 0.05055930152031157,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006091440641618489,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006091440641618489
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 307,
281
+ "adam_update_count": 50962
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2173396828584373
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_b76d31cc4389441883b4ac08e7d7d7a4_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 308,
293
+ "next_interval": 0,
294
+ "next_adam_update": 50963,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 307,
300
+ "trained_intervals": 50962,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 50962,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8699133396148682,
333
+ "median": 7.3555908203125,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8033416271209717,
354
+ "median": 5.562731742858887,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1541370302438736,
361
+ "median": 1564.9212646484375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02229614369571209,
382
+ "median": 260.5364074707031,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0308.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0308",
5
+ "executed_epochs": 308,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_5777ebc825134f2192a8aafc6d548393.npz",
37
+ "optimizer_file": "boundary_5777ebc825134f2192a8aafc6d548393_optimizer.pt",
38
+ "arrays_sha256": "1783cc7cf809c096a05c853e698bc97c9568bbc701b0c9a333a5bdbcffa3cc6c",
39
+ "optimizer_sha256": "52273a4904d5ea45af1c2c84050386a17af0ebb6718a1d2db016597d886d082f",
40
+ "stage": "adam",
41
+ "completed_passes": 308,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51128,
45
+ "adam_update_count": 51128,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 309,
49
+ "consumed_count": 308,
50
+ "last_submitted_update": 51128,
51
+ "last_consumed_update": 50962,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51128,
56
+ "completed_passes": 308,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51128,
59
+ "snapshot": "pass_end_0308",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 308,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51128,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51128,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.888016211334616e-05,
83
+ "update_l2": 4.025177622679621e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3102207049087156e-05,
95
+ "update_l2": 8.835600056045223e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06074868000623486,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06074868000623486,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02119368501007557,
129
+ "ssim_fused": 0.952463686466217,
130
+ "seg_l1": 0.030965164303779602,
131
+ "seg_ssim_ref": 0.9524637460708618,
132
+ "depth": 0.007076631753658294,
133
+ "rgb_loss": 0.026462208479642868,
134
+ "seg_loss": 0.034279391169548035,
135
+ "total": 0.06074868000623486
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029527926817536354,
141
+ "ssim_fused": 0.9363384246826172,
142
+ "seg_l1": 0.03302311524748802,
143
+ "seg_ssim_ref": 0.9363387227058411,
144
+ "depth": 0.005499262548075057,
145
+ "rgb_loss": 0.036354657262563705,
146
+ "seg_loss": 0.039150748401880264,
147
+ "total": 0.07551090492699204,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005499262548075057,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.00494151840745006
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024778803810477257,
174
+ "ssim_fused": 0.9481009244918823,
175
+ "seg_l1": 0.04023481532931328,
176
+ "seg_ssim_ref": 0.9481009244918823,
177
+ "depth": 0.010376855418089416,
178
+ "rgb_loss": 0.03020285815000534,
179
+ "seg_loss": 0.042567670345306396,
180
+ "total": 0.07278090535072983,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010376855418089416,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009729157935450526
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014250971376895905,
207
+ "ssim_fused": 0.9650958180427551,
208
+ "seg_l1": 0.023530805483460426,
209
+ "seg_ssim_ref": 0.9650957584381104,
210
+ "depth": 0.006380845061435053,
211
+ "rgb_loss": 0.018381614238023758,
212
+ "seg_loss": 0.02580549195408821,
213
+ "total": 0.04419348703717341,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006380845061435053,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006380845061435053
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016217036172747612,
240
+ "ssim_fused": 0.9603195786476135,
241
+ "seg_l1": 0.02707192301750183,
242
+ "seg_ssim_ref": 0.9603193998336792,
243
+ "depth": 0.006049563987033648,
244
+ "rgb_loss": 0.020909713581204414,
245
+ "seg_loss": 0.029593659564852715,
246
+ "total": 0.05050942271004416,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006049563987033648,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006049563987033648
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 308,
281
+ "adam_update_count": 51128
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2175772578921169
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_5777ebc825134f2192a8aafc6d548393_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 309,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51129,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 308,
300
+ "trained_intervals": 51128,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51128,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8690224885940552,
333
+ "median": 7.35570764541626,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.804155111312866,
354
+ "median": 5.562673568725586,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15427438914775848,
361
+ "median": 1565.1041259765625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022278012707829475,
382
+ "median": 260.52166748046875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0309.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0309",
5
+ "executed_epochs": 309,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_66f9bd7f0e51433786b0bfc81c43ebff.npz",
37
+ "optimizer_file": "boundary_66f9bd7f0e51433786b0bfc81c43ebff_optimizer.pt",
38
+ "arrays_sha256": "2e2ae9843be532fa6a919881afe7ddf29bfd5c1c9aad3aa87aa1e00ce613245a",
39
+ "optimizer_sha256": "8da6f6072b19a9187133a4fd233895ac847cb24f1be413a194cba94eefe07dcc",
40
+ "stage": "adam",
41
+ "completed_passes": 309,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51294,
45
+ "adam_update_count": 51294,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 310,
49
+ "consumed_count": 309,
50
+ "last_submitted_update": 51294,
51
+ "last_consumed_update": 51128,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51294,
56
+ "completed_passes": 309,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51294,
59
+ "snapshot": "pass_end_0309",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 309,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51294,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51294,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010587841097731143,
83
+ "update_l2": 2.9755125069641508e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2626859643205535e-05,
95
+ "update_l2": 1.5049888133944478e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06069610126860508,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06069610126860508,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021162603050470352,
129
+ "ssim_fused": 0.9525045156478882,
130
+ "seg_l1": 0.030950937420129776,
131
+ "seg_ssim_ref": 0.9525045156478882,
132
+ "depth": 0.007067328170620022,
133
+ "rgb_loss": 0.026429183781147003,
134
+ "seg_loss": 0.0342598482966423,
135
+ "total": 0.06069610126860508
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02937687560915947,
141
+ "ssim_fused": 0.9365755319595337,
142
+ "seg_l1": 0.03286553919315338,
143
+ "seg_ssim_ref": 0.9365758895874023,
144
+ "depth": 0.005454934155772078,
145
+ "rgb_loss": 0.03618639335036278,
146
+ "seg_loss": 0.038977254182100296,
147
+ "total": 0.07516910246661884,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005454934155772078,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004897190015147079
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02479790337383747,
174
+ "ssim_fused": 0.9480646252632141,
175
+ "seg_l1": 0.0402696467936039,
176
+ "seg_ssim_ref": 0.9480646252632141,
177
+ "depth": 0.010383062014609265,
178
+ "rgb_loss": 0.030225399881601334,
179
+ "seg_loss": 0.042602792382240295,
180
+ "total": 0.07283857160056594,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010383062014609265,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009735364531970377
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014249194413423538,
207
+ "ssim_fused": 0.9650949239730835,
208
+ "seg_l1": 0.02355133555829525,
209
+ "seg_ssim_ref": 0.9650947451591492,
210
+ "depth": 0.006375327245767434,
211
+ "rgb_loss": 0.01838036999106407,
212
+ "seg_loss": 0.025822119787335396,
213
+ "total": 0.044208866968290385,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006375327245767434,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006375327245767435
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016226444393396378,
240
+ "ssim_fused": 0.9602829217910767,
241
+ "seg_l1": 0.027117229998111725,
242
+ "seg_ssim_ref": 0.9602827429771423,
243
+ "depth": 0.006055989266331309,
244
+ "rgb_loss": 0.02092457190155983,
245
+ "seg_loss": 0.029637236148118973,
246
+ "total": 0.050567864038945136,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006055989266331309,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006055989266331307
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 309,
281
+ "adam_update_count": 51294
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21659528207965195
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_66f9bd7f0e51433786b0bfc81c43ebff_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 310,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51295,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 309,
300
+ "trained_intervals": 51294,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51294,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8604460954666138,
333
+ "median": 7.354301452636719,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8125271797180176,
354
+ "median": 5.562599182128906,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15560320019721985,
361
+ "median": 1562.9049072265625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02209227718412876,
382
+ "median": 260.52288818359375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0310.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0310",
5
+ "executed_epochs": 310,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_96c21d436ee648cb9f2b887fec5c3ad4.npz",
37
+ "optimizer_file": "boundary_96c21d436ee648cb9f2b887fec5c3ad4_optimizer.pt",
38
+ "arrays_sha256": "69ae9c97159855bcdba2237e9213a8c92c964229338a9d6cf80110372b71ab85",
39
+ "optimizer_sha256": "323951413b088c731944a18549fd72b051293a2fffb31d7ac537d14b65683f4f",
40
+ "stage": "adam",
41
+ "completed_passes": 310,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51460,
45
+ "adam_update_count": 51460,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 311,
49
+ "consumed_count": 310,
50
+ "last_submitted_update": 51460,
51
+ "last_consumed_update": 51294,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51460,
56
+ "completed_passes": 310,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51460,
59
+ "snapshot": "pass_end_0310",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 310,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51460,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51460,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010784649202832952,
83
+ "update_l2": 2.0267370928195305e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2972634067409672e-05,
95
+ "update_l2": 1.7977854440687224e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06056602172299885,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06056602172299885,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02112896367907524,
129
+ "ssim_fused": 0.9525554180145264,
130
+ "seg_l1": 0.03084746189415455,
131
+ "seg_ssim_ref": 0.9525554776191711,
132
+ "depth": 0.007059087302914317,
133
+ "rgb_loss": 0.02639208734035492,
134
+ "seg_loss": 0.03416687250137329,
135
+ "total": 0.06056602172299885
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02942204847931862,
141
+ "ssim_fused": 0.9364879727363586,
142
+ "seg_l1": 0.03286195918917656,
143
+ "seg_ssim_ref": 0.9364883303642273,
144
+ "depth": 0.0054647634550308195,
145
+ "rgb_loss": 0.036240044981241226,
146
+ "seg_loss": 0.03899190202355385,
147
+ "total": 0.0752374117682501,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0054647634550308195,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004907019314405819
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024696417152881622,
174
+ "ssim_fused": 0.9482203125953674,
175
+ "seg_l1": 0.04004203900694847,
176
+ "seg_ssim_ref": 0.9482203125953674,
177
+ "depth": 0.010339855557352357,
178
+ "rgb_loss": 0.03011307120323181,
179
+ "seg_loss": 0.04238957166671753,
180
+ "total": 0.0725129827255067,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010339855557352357,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009692158074713466
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014209583401679993,
207
+ "ssim_fused": 0.9651468396186829,
208
+ "seg_l1": 0.023453382775187492,
209
+ "seg_ssim_ref": 0.9651467800140381,
210
+ "depth": 0.006375260003018194,
211
+ "rgb_loss": 0.018338298425078392,
212
+ "seg_loss": 0.025733349844813347,
213
+ "total": 0.044078023529894754,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006375260003018194,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006375260003018193
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01618780568242073,
240
+ "ssim_fused": 0.9603665471076965,
241
+ "seg_l1": 0.02703246660530567,
242
+ "seg_ssim_ref": 0.9603664875030518,
243
+ "depth": 0.0060564701962558965,
244
+ "rgb_loss": 0.020876934751868248,
245
+ "seg_loss": 0.029552675783634186,
246
+ "total": 0.05043566886834384,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060564701962558965,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006056470196255897
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 310,
281
+ "adam_update_count": 51460
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22092747711576521
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_96c21d436ee648cb9f2b887fec5c3ad4_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 311,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51461,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 310,
300
+ "trained_intervals": 51460,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51460,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8696209192276,
333
+ "median": 7.35703706741333,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.8032913208007812,
354
+ "median": 5.5623369216918945,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1541820913553238,
361
+ "median": 1567.186279296875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022297265008091927,
382
+ "median": 260.4375305175781,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0311.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0311",
5
+ "executed_epochs": 311,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_c2b26be3004c44e5acabeeebdc52a255.npz",
37
+ "optimizer_file": "boundary_c2b26be3004c44e5acabeeebdc52a255_optimizer.pt",
38
+ "arrays_sha256": "d89af8638a502bba0be422c99232d0b08fef300a9c78ef3ed1f4218c7f7b1be1",
39
+ "optimizer_sha256": "7570cd208f3806ae274388b69cb26daa8f68e54c7f388b486c4280cbc424f53e",
40
+ "stage": "adam",
41
+ "completed_passes": 311,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51626,
45
+ "adam_update_count": 51626,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 312,
49
+ "consumed_count": 311,
50
+ "last_submitted_update": 51626,
51
+ "last_consumed_update": 51460,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51626,
56
+ "completed_passes": 311,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51626,
59
+ "snapshot": "pass_end_0311",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 311,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51626,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51626,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010441068297950551,
83
+ "update_l2": 4.409287066664547e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3029506590100937e-05,
95
+ "update_l2": 3.9724538510199636e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060615416114280216,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060615416114280216,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021148648113012314,
129
+ "ssim_fused": 0.9525333046913147,
130
+ "seg_l1": 0.0308784581720829,
131
+ "seg_ssim_ref": 0.9525333046913147,
132
+ "depth": 0.007062648484700411,
133
+ "rgb_loss": 0.026412256062030792,
134
+ "seg_loss": 0.034196097403764725,
135
+ "total": 0.060615416114280216
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029465803876519203,
141
+ "ssim_fused": 0.9364362955093384,
142
+ "seg_l1": 0.032922565937042236,
143
+ "seg_ssim_ref": 0.936436653137207,
144
+ "depth": 0.005483860456687657,
145
+ "rgb_loss": 0.036285385489463806,
146
+ "seg_loss": 0.03905072435736656,
147
+ "total": 0.07534159743257736,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005483860456687657,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004926116316062658
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02471224218606949,
174
+ "ssim_fused": 0.9481997489929199,
175
+ "seg_l1": 0.04009633883833885,
176
+ "seg_ssim_ref": 0.9481997489929199,
177
+ "depth": 0.010348858100271576,
178
+ "rgb_loss": 0.030129842460155487,
179
+ "seg_loss": 0.0424371212720871,
180
+ "total": 0.07257731259034285,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010348858100271576,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.00970116061763269
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014225168153643608,
207
+ "ssim_fused": 0.9651281237602234,
208
+ "seg_l1": 0.02347530610859394,
209
+ "seg_ssim_ref": 0.9651280641555786,
210
+ "depth": 0.006374855368268779,
211
+ "rgb_loss": 0.0183545108884573,
212
+ "seg_loss": 0.02575463242828846,
213
+ "total": 0.044115518172114024,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006374855368268779,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006374855368268779
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016191376373171806,
240
+ "ssim_fused": 0.9603691101074219,
241
+ "seg_l1": 0.027019623667001724,
242
+ "seg_ssim_ref": 0.9603689312934875,
243
+ "depth": 0.0060430200135736314,
244
+ "rgb_loss": 0.02087927982211113,
245
+ "seg_loss": 0.02954191341996193,
246
+ "total": 0.05042723626208663,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060430200135736314,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060430200135736314
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 311,
281
+ "adam_update_count": 51626
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2209551390260458
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_c2b26be3004c44e5acabeeebdc52a255_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 312,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51627,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 311,
300
+ "trained_intervals": 51626,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51626,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.871775507926941,
333
+ "median": 7.356590270996094,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.801138162612915,
354
+ "median": 5.560626029968262,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.153850257396698,
361
+ "median": 1566.4862060546875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022345326840877533,
382
+ "median": 259.986328125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0312.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0312",
5
+ "executed_epochs": 312,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_0b168378db2d44a2bae3a8b2252a0462.npz",
37
+ "optimizer_file": "boundary_0b168378db2d44a2bae3a8b2252a0462_optimizer.pt",
38
+ "arrays_sha256": "f9dbd4eb5c500a98c65eb65391103411d9250dc41112d7b56333b9264fe74075",
39
+ "optimizer_sha256": "af49eb2eb9edf926377971ed756870fecdbd62d3d74b081468e0b6cd6ff4ccc3",
40
+ "stage": "adam",
41
+ "completed_passes": 312,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51792,
45
+ "adam_update_count": 51792,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 313,
49
+ "consumed_count": 312,
50
+ "last_submitted_update": 51792,
51
+ "last_consumed_update": 51626,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51792,
56
+ "completed_passes": 312,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51792,
59
+ "snapshot": "pass_end_0312",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 312,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51792,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51792,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010634972568368539,
83
+ "update_l2": 3.055780689464882e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2898134627903346e-05,
95
+ "update_l2": 9.969900929718278e-06
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06049857735628109,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06049857735628109,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.02109946310520172,
129
+ "ssim_fused": 0.9526010751724243,
130
+ "seg_l1": 0.03081546537578106,
131
+ "seg_ssim_ref": 0.9526010155677795,
132
+ "depth": 0.0070406123421651624,
133
+ "rgb_loss": 0.02635936252772808,
134
+ "seg_loss": 0.03413217514753342,
135
+ "total": 0.06049857735628109
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02930384874343872,
141
+ "ssim_fused": 0.9366688132286072,
142
+ "seg_l1": 0.03271202743053436,
143
+ "seg_ssim_ref": 0.9366691708564758,
144
+ "depth": 0.005431552127466228,
145
+ "rgb_loss": 0.0361093170940876,
146
+ "seg_loss": 0.038835786283016205,
147
+ "total": 0.07495053865452157,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005431552127466228,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004873807986841227
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024705465883016586,
174
+ "ssim_fused": 0.9482226371765137,
175
+ "seg_l1": 0.040070466697216034,
176
+ "seg_ssim_ref": 0.9482225775718689,
177
+ "depth": 0.01033577057371537,
178
+ "rgb_loss": 0.030119845643639565,
179
+ "seg_loss": 0.04241185635328293,
180
+ "total": 0.07254203590485106,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01033577057371537,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009688073091076482
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014206036925315857,
207
+ "ssim_fused": 0.9651550054550171,
208
+ "seg_l1": 0.02345549315214157,
209
+ "seg_ssim_ref": 0.9651548266410828,
210
+ "depth": 0.0063550568709346555,
211
+ "rgb_loss": 0.018333828076720238,
212
+ "seg_loss": 0.025733429938554764,
213
+ "total": 0.04407361120950079,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0063550568709346555,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063550568709346555
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01618249900639057,
240
+ "ssim_fused": 0.9603577256202698,
241
+ "seg_l1": 0.02702387608587742,
242
+ "seg_ssim_ref": 0.9603573679924011,
243
+ "depth": 0.006040069796544396,
244
+ "rgb_loss": 0.02087445557117462,
245
+ "seg_loss": 0.02954762801527977,
246
+ "total": 0.050428123656250934,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006040069796544396,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006040069796544396
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 312,
281
+ "adam_update_count": 51792
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2244687599595636
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_0b168378db2d44a2bae3a8b2252a0462_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 313,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51793,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 312,
300
+ "trained_intervals": 51792,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51792,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8822057247161865,
333
+ "median": 7.35758113861084,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7907090187072754,
354
+ "median": 5.554125785827637,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1522539108991623,
361
+ "median": 1568.0390625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022579586133360863,
382
+ "median": 258.3013916015625,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0313.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0313",
5
+ "executed_epochs": 313,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_a14ae86c24ca4287b0f18fc8e7da3fe5.npz",
37
+ "optimizer_file": "boundary_a14ae86c24ca4287b0f18fc8e7da3fe5_optimizer.pt",
38
+ "arrays_sha256": "02488463c15ce883785286de0458ef478d59a801aad282096f93b42121b18136",
39
+ "optimizer_sha256": "a7c9f7c93e77110504e1e1984e5d20494383bb9e7ce4a3194b0c7fb125a95927",
40
+ "stage": "adam",
41
+ "completed_passes": 313,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 51958,
45
+ "adam_update_count": 51958,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 314,
49
+ "consumed_count": 313,
50
+ "last_submitted_update": 51958,
51
+ "last_consumed_update": 51792,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 51958,
56
+ "completed_passes": 313,
57
+ "next_interval": 0,
58
+ "trained_intervals": 51958,
59
+ "snapshot": "pass_end_0313",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 313,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 51958,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 51958,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010769484651973471,
83
+ "update_l2": 7.733286111033522e-06
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3016222510486841e-05,
95
+ "update_l2": 1.0737912816694006e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06039402835923923,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06039402835923923,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021060848608613014,
129
+ "ssim_fused": 0.9526483416557312,
130
+ "seg_l1": 0.030747080221772194,
131
+ "seg_ssim_ref": 0.952648401260376,
132
+ "depth": 0.007027917688017802,
133
+ "rgb_loss": 0.02631901390850544,
134
+ "seg_loss": 0.03406798839569092,
135
+ "total": 0.06039402835923923
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029242420569062233,
141
+ "ssim_fused": 0.9367420673370361,
142
+ "seg_l1": 0.03261592611670494,
143
+ "seg_ssim_ref": 0.9367424249649048,
144
+ "depth": 0.005409159534535526,
145
+ "rgb_loss": 0.03604552149772644,
146
+ "seg_loss": 0.038744255900382996,
147
+ "total": 0.07479518655764397,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005409159534535526,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004851415393910526
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024664035066962242,
174
+ "ssim_fused": 0.948277473449707,
175
+ "seg_l1": 0.03997651860117912,
176
+ "seg_ssim_ref": 0.948277473449707,
177
+ "depth": 0.010316527128306786,
178
+ "rgb_loss": 0.030075734481215477,
179
+ "seg_loss": 0.04232572019100189,
180
+ "total": 0.07241177306199083,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010316527128306786,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009668829645667898
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014176606200635433,
207
+ "ssim_fused": 0.9651939272880554,
208
+ "seg_l1": 0.023402368649840355,
209
+ "seg_ssim_ref": 0.9651938676834106,
210
+ "depth": 0.00634566067884314,
211
+ "rgb_loss": 0.018302500247955322,
212
+ "seg_loss": 0.025683121755719185,
213
+ "total": 0.0439919658017082,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.00634566067884314,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.00634566067884314
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016160333529114723,
240
+ "ssim_fused": 0.9603798389434814,
241
+ "seg_l1": 0.026993505656719208,
242
+ "seg_ssim_ref": 0.9603797793388367,
243
+ "depth": 0.006040323410385755,
244
+ "rgb_loss": 0.02085229940712452,
245
+ "seg_loss": 0.02951885014772415,
246
+ "total": 0.05037718801561391,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006040323410385755,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006040323410385753
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 313,
281
+ "adam_update_count": 51958
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2328882550355047
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_a14ae86c24ca4287b0f18fc8e7da3fe5_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 314,
293
+ "next_interval": 0,
294
+ "next_adam_update": 51959,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 313,
300
+ "trained_intervals": 51958,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 51958,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.893689513206482,
333
+ "median": 7.357736587524414,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7792575359344482,
354
+ "median": 5.550273895263672,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15051545202732086,
361
+ "median": 1568.282958984375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02283964306116104,
382
+ "median": 257.31048583984375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0314.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0314",
5
+ "executed_epochs": 314,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_1d48e7bf2edf468c86e3659c8e5cd186.npz",
37
+ "optimizer_file": "boundary_1d48e7bf2edf468c86e3659c8e5cd186_optimizer.pt",
38
+ "arrays_sha256": "dc02df9ab8a98ee6c983de0219955e08766d6e3207ffad5a7832d109151ced74",
39
+ "optimizer_sha256": "247e1f442455649fe5f6659d9197759905f43c1a646b86a1b41a42e1c11059da",
40
+ "stage": "adam",
41
+ "completed_passes": 314,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52124,
45
+ "adam_update_count": 52124,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 315,
49
+ "consumed_count": 314,
50
+ "last_submitted_update": 52124,
51
+ "last_consumed_update": 51958,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52124,
56
+ "completed_passes": 314,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52124,
59
+ "snapshot": "pass_end_0314",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 314,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52124,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52124,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010709758498705924,
83
+ "update_l2": 1.5927926142467186e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3224038411863148e-05,
95
+ "update_l2": 2.0588113329722546e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0606900745827113,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.0606900745827113,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021176384761929512,
129
+ "ssim_fused": 0.9524763822555542,
130
+ "seg_l1": 0.030915582552552223,
131
+ "seg_ssim_ref": 0.952476441860199,
132
+ "depth": 0.007075612560352893,
133
+ "rgb_loss": 0.026445813477039337,
134
+ "seg_loss": 0.03423718363046646,
135
+ "total": 0.0606900745827113
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029534313827753067,
141
+ "ssim_fused": 0.9362883567810059,
142
+ "seg_l1": 0.03299026936292648,
143
+ "seg_ssim_ref": 0.936288595199585,
144
+ "depth": 0.00548724977948884,
145
+ "rgb_loss": 0.03636977821588516,
146
+ "seg_loss": 0.039134494960308075,
147
+ "total": 0.07550976042597272,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.00548724977948884,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004929505638863839
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.02475365251302719,
174
+ "ssim_fused": 0.9481475949287415,
175
+ "seg_l1": 0.040151745080947876,
176
+ "seg_ssim_ref": 0.9481475353240967,
177
+ "depth": 0.010367962570867707,
178
+ "rgb_loss": 0.030173402279615402,
179
+ "seg_loss": 0.042491890490055084,
180
+ "total": 0.07267565700695106,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010367962570867707,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009720265088228819
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.0142199182882905,
207
+ "ssim_fused": 0.9651340246200562,
208
+ "seg_l1": 0.023475244641304016,
209
+ "seg_ssim_ref": 0.9651338458061218,
210
+ "depth": 0.006384592336718925,
211
+ "rgb_loss": 0.01834912970662117,
212
+ "seg_loss": 0.025753427296876907,
213
+ "total": 0.0441089415958348,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006384592336718925,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006384592336718924
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016197653487324715,
240
+ "ssim_fused": 0.9603358507156372,
241
+ "seg_l1": 0.02704506926238537,
242
+ "seg_ssim_ref": 0.9603356719017029,
243
+ "depth": 0.006062645554336099,
244
+ "rgb_loss": 0.02089095301926136,
245
+ "seg_loss": 0.029568921774625778,
246
+ "total": 0.05046593930208662,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006062645554336099,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006062645554336099
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 314,
281
+ "adam_update_count": 52124
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22221913398243487
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_1d48e7bf2edf468c86e3659c8e5cd186_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 315,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52125,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 314,
300
+ "trained_intervals": 52124,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52124,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8937642574310303,
333
+ "median": 7.357736587524414,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.779181957244873,
354
+ "median": 5.550838947296143,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1505042016506195,
361
+ "median": 1568.282958984375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02284136973321438,
382
+ "median": 257.45684814453125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0315.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0315",
5
+ "executed_epochs": 315,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_79a74e0a24b64dc383fb731a6ad7c4c6.npz",
37
+ "optimizer_file": "boundary_79a74e0a24b64dc383fb731a6ad7c4c6_optimizer.pt",
38
+ "arrays_sha256": "0380ef68eba8e2bee1fda626c8336223b9a8b315163ca8abed9e74a5589a451c",
39
+ "optimizer_sha256": "60ee6d51fc748aec22e8cfaef9025302bf15a27171f1d7308cfd87f6d3326a02",
40
+ "stage": "adam",
41
+ "completed_passes": 315,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52290,
45
+ "adam_update_count": 52290,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 316,
49
+ "consumed_count": 315,
50
+ "last_submitted_update": 52290,
51
+ "last_consumed_update": 52124,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52290,
56
+ "completed_passes": 315,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52290,
59
+ "snapshot": "pass_end_0315",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 315,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52290,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52290,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.527566726319492e-05,
83
+ "update_l2": 2.3173392037278973e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3494280210579745e-05,
95
+ "update_l2": 1.9092556613031775e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06104483122285026,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06104483122285026,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021296830847859383,
129
+ "ssim_fused": 0.9523051381111145,
130
+ "seg_l1": 0.0311528742313385,
131
+ "seg_ssim_ref": 0.9523051381111145,
132
+ "depth": 0.007129668253835925,
133
+ "rgb_loss": 0.026576438918709755,
134
+ "seg_loss": 0.034461263567209244,
135
+ "total": 0.06104483122285026
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029697993770241737,
141
+ "ssim_fused": 0.9360561966896057,
142
+ "seg_l1": 0.033258359879255295,
143
+ "seg_ssim_ref": 0.9360566139221191,
144
+ "depth": 0.005545527112410248,
145
+ "rgb_loss": 0.03654715418815613,
146
+ "seg_loss": 0.03939536586403847,
147
+ "total": 0.0759480618540167,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005545527112410248,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.00498778297178525
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024911656975746155,
174
+ "ssim_fused": 0.9479342103004456,
175
+ "seg_l1": 0.04051726683974266,
176
+ "seg_ssim_ref": 0.9479342103004456,
177
+ "depth": 0.010484435713111633,
178
+ "rgb_loss": 0.030342482030391693,
179
+ "seg_loss": 0.042826972901821136,
180
+ "total": 0.07317993936792594,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010484435713111633,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009836738230472741
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014310372993350029,
207
+ "ssim_fused": 0.9650269150733948,
208
+ "seg_l1": 0.023662161082029343,
209
+ "seg_ssim_ref": 0.9650269150733948,
210
+ "depth": 0.006415124134742138,
211
+ "rgb_loss": 0.018442915752530098,
212
+ "seg_loss": 0.02592434734106064,
213
+ "total": 0.04437367635508033,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006415124134742138,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006415124134742137
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01626729965209961,
240
+ "ssim_fused": 0.9602031707763672,
241
+ "seg_l1": 0.027173709124326706,
242
+ "seg_ssim_ref": 0.9602029919624329,
243
+ "depth": 0.006073586055079681,
244
+ "rgb_loss": 0.02097320556640625,
245
+ "seg_loss": 0.029698368161916733,
246
+ "total": 0.050677647314378065,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006073586055079681,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006073586055079681
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 315,
281
+ "adam_update_count": 52290
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.215700478060171
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_79a74e0a24b64dc383fb731a6ad7c4c6_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 316,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52291,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 315,
300
+ "trained_intervals": 52290,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52290,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8933521509170532,
333
+ "median": 7.357684135437012,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7796390056610107,
354
+ "median": 5.549071311950684,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1505662351846695,
361
+ "median": 1568.20068359375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022830933332443237,
382
+ "median": 256.9989013671875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0316.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0316",
5
+ "executed_epochs": 316,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_5f6ee7f2f05e4d80ad67933bb830dfc8.npz",
37
+ "optimizer_file": "boundary_5f6ee7f2f05e4d80ad67933bb830dfc8_optimizer.pt",
38
+ "arrays_sha256": "043d28faa07c0d36209032973206e6af3c318c99b28bf870ad729bf8a10d5914",
39
+ "optimizer_sha256": "5fd49a8779a4561353f767e88b013d3b8a29333084c1655235a560a9a207b24f",
40
+ "stage": "adam",
41
+ "completed_passes": 316,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52456,
45
+ "adam_update_count": 52456,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 317,
49
+ "consumed_count": 316,
50
+ "last_submitted_update": 52456,
51
+ "last_consumed_update": 52290,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52456,
56
+ "completed_passes": 316,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52456,
59
+ "snapshot": "pass_end_0316",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 316,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52456,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52456,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010670941992430016,
83
+ "update_l2": 4.123004691791721e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.311468531639548e-05,
95
+ "update_l2": 3.527942317305133e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06061881670120967,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06061881670120967,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021149281412363052,
129
+ "ssim_fused": 0.952524721622467,
130
+ "seg_l1": 0.030877765268087387,
131
+ "seg_ssim_ref": 0.9525246620178223,
132
+ "depth": 0.007063908016807787,
133
+ "rgb_loss": 0.026414483785629272,
134
+ "seg_loss": 0.03419726714491844,
135
+ "total": 0.06061881670120967
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029459791257977486,
141
+ "ssim_fused": 0.9364300966262817,
142
+ "seg_l1": 0.032902948558330536,
143
+ "seg_ssim_ref": 0.9364304542541504,
144
+ "depth": 0.00547132069560518,
145
+ "rgb_loss": 0.03628181293606758,
146
+ "seg_loss": 0.03903626650571823,
147
+ "total": 0.07532355448777171,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.00547132069560518,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004913576554980181
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024722985923290253,
174
+ "ssim_fused": 0.9481812119483948,
175
+ "seg_l1": 0.040095556527376175,
176
+ "seg_ssim_ref": 0.9481812119483948,
177
+ "depth": 0.01035362301193514,
178
+ "rgb_loss": 0.030142147094011307,
179
+ "seg_loss": 0.042440202087163925,
180
+ "total": 0.07259270280418717,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.01035362301193514,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009705925529296252
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014218661934137344,
207
+ "ssim_fused": 0.965136706829071,
208
+ "seg_l1": 0.02346889302134514,
209
+ "seg_ssim_ref": 0.9651365280151367,
210
+ "depth": 0.006374172544249643,
211
+ "rgb_loss": 0.018347589299082756,
212
+ "seg_loss": 0.025747809559106827,
213
+ "total": 0.04410177116808868,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006374172544249643,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006374172544249644
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016195686534047127,
240
+ "ssim_fused": 0.9603508114814758,
241
+ "seg_l1": 0.027043651789426804,
242
+ "seg_ssim_ref": 0.9603506326675415,
243
+ "depth": 0.006056515815441187,
244
+ "rgb_loss": 0.020886387676000595,
245
+ "seg_loss": 0.029564794152975082,
246
+ "total": 0.05045723834479112,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006056515815441187,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006056515815441186
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 316,
281
+ "adam_update_count": 52456
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2163641001097858
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_5f6ee7f2f05e4d80ad67933bb830dfc8_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 317,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52457,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 316,
300
+ "trained_intervals": 52456,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52456,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8919289112091064,
333
+ "median": 7.3576812744140625,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.781290054321289,
354
+ "median": 5.553414344787598,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.15078069269657135,
361
+ "median": 1568.1961669921875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02279326692223549,
382
+ "median": 258.1177062988281,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0317.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0317",
5
+ "executed_epochs": 317,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_45b5aa498e114a639818f16aceed3d79.npz",
37
+ "optimizer_file": "boundary_45b5aa498e114a639818f16aceed3d79_optimizer.pt",
38
+ "arrays_sha256": "9afd1927037ac9e8ea280e6a26bd1d9ee44ea3a44cdb8e99ea7d36e6354b9cee",
39
+ "optimizer_sha256": "eddc14294f72821e97cf489f94598ffc7872207d08ec0b9343a653b92d3f812c",
40
+ "stage": "adam",
41
+ "completed_passes": 317,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52622,
45
+ "adam_update_count": 52622,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 318,
49
+ "consumed_count": 317,
50
+ "last_submitted_update": 52622,
51
+ "last_consumed_update": 52456,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52622,
56
+ "completed_passes": 317,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52622,
59
+ "snapshot": "pass_end_0317",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 317,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52622,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52622,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.32731491047889e-05,
83
+ "update_l2": 9.28784575080499e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.338567744824104e-05,
95
+ "update_l2": 8.063493442023173e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06095569817908451,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 499,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06095569817908451,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021268727257847786,
129
+ "ssim_fused": 0.9523544311523438,
130
+ "seg_l1": 0.031094195321202278,
131
+ "seg_ssim_ref": 0.952354371547699,
132
+ "depth": 0.007115812975615005,
133
+ "rgb_loss": 0.026544099673628807,
134
+ "seg_loss": 0.03440447896718979,
135
+ "total": 0.06095569817908451
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029669757932424545,
141
+ "ssim_fused": 0.9361196160316467,
142
+ "seg_l1": 0.03320556506514549,
143
+ "seg_ssim_ref": 0.9361198544502258,
144
+ "depth": 0.005543221772866997,
145
+ "rgb_loss": 0.03651188313961029,
146
+ "seg_loss": 0.03934048116207123,
147
+ "total": 0.07585790752345438,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005543221772866997,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004985477632241997
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024858634918928146,
174
+ "ssim_fused": 0.9480063915252686,
175
+ "seg_l1": 0.04041952267289162,
176
+ "seg_ssim_ref": 0.9480063915252686,
177
+ "depth": 0.010453850234040163,
178
+ "rgb_loss": 0.030285630375146866,
179
+ "seg_loss": 0.04273434355854988,
180
+ "total": 0.07303042778393079,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010453850234040163,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009806152751401275
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014296342618763447,
207
+ "ssim_fused": 0.9650449156761169,
208
+ "seg_l1": 0.02362152561545372,
209
+ "seg_ssim_ref": 0.9650447368621826,
210
+ "depth": 0.00640529906328457,
211
+ "rgb_loss": 0.01842809095978737,
212
+ "seg_loss": 0.025888273492455482,
213
+ "total": 0.04432277161395128,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.00640529906328457,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.00640529906328457
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01625017076730728,
240
+ "ssim_fused": 0.9602466821670532,
241
+ "seg_l1": 0.027130166068673134,
242
+ "seg_ssim_ref": 0.9602465629577637,
243
+ "depth": 0.006060880832268288,
244
+ "rgb_loss": 0.0209508016705513,
245
+ "seg_loss": 0.029654821380972862,
246
+ "total": 0.05061168579500158,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006060880832268288,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060608808322682875
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 317,
281
+ "adam_update_count": 52622
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22520678490400314
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_45b5aa498e114a639818f16aceed3d79_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 318,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52623,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 317,
300
+ "trained_intervals": 52622,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52622,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.8919761180877686,
333
+ "median": 7.357685089111328,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7812368869781494,
354
+ "median": 5.551736831665039,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1507735550403595,
361
+ "median": 1568.2020263671875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022794479504227638,
382
+ "median": 257.685302734375,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 499,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0318.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0318",
5
+ "executed_epochs": 318,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_b7fc75cb73574d70ad284920a78a7167.npz",
37
+ "optimizer_file": "boundary_b7fc75cb73574d70ad284920a78a7167_optimizer.pt",
38
+ "arrays_sha256": "c931ea0f66ade72f21612be8b484b0302cf42619b6f3a0f082b074da4cac28d6",
39
+ "optimizer_sha256": "d9cc7052973b4d0851fb01a13c7ab61cdd95c91de971d7757222a1a3549c38ef",
40
+ "stage": "adam",
41
+ "completed_passes": 318,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52788,
45
+ "adam_update_count": 52788,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 319,
49
+ "consumed_count": 318,
50
+ "last_submitted_update": 52788,
51
+ "last_consumed_update": 52622,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52788,
56
+ "completed_passes": 318,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52788,
59
+ "snapshot": "pass_end_0318",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 318,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52788,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52788,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010573759936960414,
83
+ "update_l2": 0.00011222546163480729
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3204378774389625e-05,
95
+ "update_l2": 3.3273343433393165e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060516526855075324,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 500,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060516526855075324,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021123550832271576,
129
+ "ssim_fused": 0.9525561928749084,
130
+ "seg_l1": 0.030791400000452995,
131
+ "seg_ssim_ref": 0.9525562524795532,
132
+ "depth": 0.007051907026732807,
133
+ "rgb_loss": 0.026387598365545273,
134
+ "seg_loss": 0.03412187844514847,
135
+ "total": 0.060516526855075324
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029531551524996758,
141
+ "ssim_fused": 0.9362794756889343,
142
+ "seg_l1": 0.03294771537184715,
143
+ "seg_ssim_ref": 0.9362796545028687,
144
+ "depth": 0.005485665790227294,
145
+ "rgb_loss": 0.03636934608221054,
146
+ "seg_loss": 0.03910224139690399,
147
+ "total": 0.07547707314490476,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005485665790227294,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004927921649602295
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024634720757603645,
174
+ "ssim_fused": 0.9483081698417664,
175
+ "seg_l1": 0.039895784109830856,
176
+ "seg_ssim_ref": 0.9483081698417664,
177
+ "depth": 0.010293592586913923,
178
+ "rgb_loss": 0.030046142637729645,
179
+ "seg_loss": 0.04225499555468559,
180
+ "total": 0.07231142805971186,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010293592586913923,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009645895104275035
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01417287066578865,
207
+ "ssim_fused": 0.965207040309906,
208
+ "seg_l1": 0.023362383246421814,
209
+ "seg_ssim_ref": 0.9652069807052612,
210
+ "depth": 0.006380626483986465,
211
+ "rgb_loss": 0.01829688809812069,
212
+ "seg_loss": 0.025648510083556175,
213
+ "total": 0.04395177880816085,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006380626483986465,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006380626483986465
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.01615506410598755,
240
+ "ssim_fused": 0.9604302048683167,
241
+ "seg_l1": 0.026959717273712158,
242
+ "seg_ssim_ref": 0.9604300260543823,
243
+ "depth": 0.006047743245803545,
244
+ "rgb_loss": 0.02083801105618477,
245
+ "seg_loss": 0.02948176860809326,
246
+ "total": 0.05032582740752383,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006047743245803545,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006047743245803545
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 318,
281
+ "adam_update_count": 52788
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2404384328983724
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_b7fc75cb73574d70ad284920a78a7167_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 319,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52789,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 318,
300
+ "trained_intervals": 52788,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52788,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.9054820537567139,
333
+ "median": 7.35756254196167,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7673354148864746,
354
+ "median": 5.550091743469238,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1487509310245514,
361
+ "median": 1568.0098876953125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.023113569244742393,
382
+ "median": 257.27606201171875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 500,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0319.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0319",
5
+ "executed_epochs": 319,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_b9e2ef40e81c4a1cb8c4df4a399b0f5e.npz",
37
+ "optimizer_file": "boundary_b9e2ef40e81c4a1cb8c4df4a399b0f5e_optimizer.pt",
38
+ "arrays_sha256": "0ac184a17d72cbee9aab0a35661b4b9bb051f98376864a444cce3bf2e8d5da8f",
39
+ "optimizer_sha256": "752bc2682f4ad3201ad3d6ef3505b22b76cb403a3125a11284879e15c39f3863",
40
+ "stage": "adam",
41
+ "completed_passes": 319,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 52954,
45
+ "adam_update_count": 52954,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 320,
49
+ "consumed_count": 319,
50
+ "last_submitted_update": 52954,
51
+ "last_consumed_update": 52788,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 52954,
56
+ "completed_passes": 319,
57
+ "next_interval": 0,
58
+ "trained_intervals": 52954,
59
+ "snapshot": "pass_end_0319",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 319,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 52954,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 52954,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.592682181391865e-05,
83
+ "update_l2": 0.0003681161906570196
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3504886737791821e-05,
95
+ "update_l2": 7.388840458588675e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06074741374528052,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 500,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06074741374528052,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021196570247411728,
129
+ "ssim_fused": 0.9524617791175842,
130
+ "seg_l1": 0.03095972165465355,
131
+ "seg_ssim_ref": 0.9524617195129395,
132
+ "depth": 0.007079763468520962,
133
+ "rgb_loss": 0.026464905589818954,
134
+ "seg_loss": 0.03427543118596077,
135
+ "total": 0.06074741374528052
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029554618522524834,
141
+ "ssim_fused": 0.9362865090370178,
142
+ "seg_l1": 0.03303143382072449,
143
+ "seg_ssim_ref": 0.9362868070602417,
144
+ "depth": 0.005512353806109944,
145
+ "rgb_loss": 0.0363863930106163,
146
+ "seg_loss": 0.03916778415441513,
147
+ "total": 0.07555968951883754,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005512353806109944,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004954609665484945
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024773530662059784,
174
+ "ssim_fused": 0.9481275081634521,
175
+ "seg_l1": 0.04023795574903488,
176
+ "seg_ssim_ref": 0.9481275081634521,
177
+ "depth": 0.010389079164048501,
178
+ "rgb_loss": 0.030193325132131577,
179
+ "seg_loss": 0.042564861476421356,
180
+ "total": 0.07276857196242668,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010389079164048501,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009741381681409615
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.01425017137080431,
207
+ "ssim_fused": 0.9651018381118774,
208
+ "seg_l1": 0.02352604828774929,
209
+ "seg_ssim_ref": 0.9651016592979431,
210
+ "depth": 0.006379166852162323,
211
+ "rgb_loss": 0.01837977021932602,
212
+ "seg_loss": 0.02580050751566887,
213
+ "total": 0.04418665690184705,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006379166852162323,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006379166852162322
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016207952052354813,
240
+ "ssim_fused": 0.9603311419487,
241
+ "seg_l1": 0.02704344503581524,
242
+ "seg_ssim_ref": 0.9603309631347656,
243
+ "depth": 0.006038454051763079,
244
+ "rgb_loss": 0.02090013399720192,
245
+ "seg_loss": 0.029568564146757126,
246
+ "total": 0.05047473659801081,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006038454051763079,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006038454051763078
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 319,
281
+ "adam_update_count": 52954
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2171430280432105
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_b9e2ef40e81c4a1cb8c4df4a399b0f5e_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 320,
293
+ "next_interval": 0,
294
+ "next_adam_update": 52955,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 319,
300
+ "trained_intervals": 52954,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 52954,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.9050036668777466,
333
+ "median": 7.357239723205566,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7677814960479736,
354
+ "median": 5.549663543701172,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1488220989704132,
361
+ "median": 1567.5037841796875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02310326136648655,
382
+ "median": 257.16796875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 500,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0320.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0320",
5
+ "executed_epochs": 320,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_60ebe7eb9a594b44bd135b91998e3c8f.npz",
37
+ "optimizer_file": "boundary_60ebe7eb9a594b44bd135b91998e3c8f_optimizer.pt",
38
+ "arrays_sha256": "379c93fb62e86de1d09f0e0191d01f5f4120c93af4264e8080186570c16f29a6",
39
+ "optimizer_sha256": "bf6f89c8933ed343b6c00a6c364cc7a69f1955db29135cd90cc1355ec34f8a3f",
40
+ "stage": "adam",
41
+ "completed_passes": 320,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 53120,
45
+ "adam_update_count": 53120,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 321,
49
+ "consumed_count": 320,
50
+ "last_submitted_update": 53120,
51
+ "last_consumed_update": 52954,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 53120,
56
+ "completed_passes": 320,
57
+ "next_interval": 0,
58
+ "trained_intervals": 53120,
59
+ "snapshot": "pass_end_0320",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 320,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 53120,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 53120,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010536272748140618,
83
+ "update_l2": 6.325232243398204e-05
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.272961435461184e-05,
95
+ "update_l2": 3.728026422322728e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060286010301643926,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 501,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060286010301643926,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021011052653193474,
129
+ "ssim_fused": 0.9527145624160767,
130
+ "seg_l1": 0.030694933608174324,
131
+ "seg_ssim_ref": 0.9527144432067871,
132
+ "depth": 0.00701068245800225,
133
+ "rgb_loss": 0.02626594342291355,
134
+ "seg_loss": 0.0340130515396595,
135
+ "total": 0.060286010301643926
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029071655124425888,
141
+ "ssim_fused": 0.9369825720787048,
142
+ "seg_l1": 0.03243197500705719,
143
+ "seg_ssim_ref": 0.9369829893112183,
144
+ "depth": 0.00536803659309633,
145
+ "rgb_loss": 0.0358608104288578,
146
+ "seg_loss": 0.03854898363351822,
147
+ "total": 0.07441516582425942,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.00536803659309633,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004810292452471331
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024637620896100998,
174
+ "ssim_fused": 0.9483218193054199,
175
+ "seg_l1": 0.039927996695041656,
176
+ "seg_ssim_ref": 0.9483218193054199,
177
+ "depth": 0.010303554537499893,
178
+ "rgb_loss": 0.030045732855796814,
179
+ "seg_loss": 0.04227803274989128,
180
+ "total": 0.0723340728855159,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010303554537499893,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009655857054861003
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014175753109157085,
207
+ "ssim_fused": 0.9651960134506226,
208
+ "seg_l1": 0.023407435044646263,
209
+ "seg_ssim_ref": 0.9651958346366882,
210
+ "depth": 0.0063376109493699755,
211
+ "rgb_loss": 0.018301399424672127,
212
+ "seg_loss": 0.025686781853437424,
213
+ "total": 0.04399452075170407,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.0063376109493699755,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063376109493699755
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.0161591824144125,
240
+ "ssim_fused": 0.9603575468063354,
241
+ "seg_l1": 0.027012325823307037,
242
+ "seg_ssim_ref": 0.9603572487831116,
243
+ "depth": 0.006033527752042799,
244
+ "rgb_loss": 0.02085583657026291,
245
+ "seg_loss": 0.029538411647081375,
246
+ "total": 0.05040028174509633,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006033527752042799,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006033527752042801
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 320,
281
+ "adam_update_count": 53120
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.22255980595946312
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_60ebe7eb9a594b44bd135b91998e3c8f_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 321,
293
+ "next_interval": 0,
294
+ "next_adam_update": 53121,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 320,
300
+ "trained_intervals": 53120,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 53120,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.9005564451217651,
333
+ "median": 7.356456279754639,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7728869915008545,
354
+ "median": 5.550596237182617,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.14948540925979614,
361
+ "median": 1566.2762451171875,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.022985609248280525,
382
+ "median": 257.39453125,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 501,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0321.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0321",
5
+ "executed_epochs": 321,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_ffc7eb5352244a61822c5019878ff0b9.npz",
37
+ "optimizer_file": "boundary_ffc7eb5352244a61822c5019878ff0b9_optimizer.pt",
38
+ "arrays_sha256": "a12e05e012e631d08a18e06865014ad6d09a02d215e163fe3076470baa03e9b7",
39
+ "optimizer_sha256": "59a553ae05e2812a4c978944e936ce971bc68d3cf6872d1a9bd01542afd0deb0",
40
+ "stage": "adam",
41
+ "completed_passes": 321,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 53286,
45
+ "adam_update_count": 53286,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 322,
49
+ "consumed_count": 321,
50
+ "last_submitted_update": 53286,
51
+ "last_consumed_update": 53120,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 53286,
56
+ "completed_passes": 321,
57
+ "next_interval": 0,
58
+ "trained_intervals": 53286,
59
+ "snapshot": "pass_end_0321",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 321,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 53286,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 53286,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00010437065793666989,
83
+ "update_l2": 0.00013974319153930992
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2997271369385999e-05,
95
+ "update_l2": 8.377525955438614e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06053546906496493,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 501,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06053546906496493,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021114064380526543,
129
+ "ssim_fused": 0.9525849223136902,
130
+ "seg_l1": 0.03083891235291958,
131
+ "seg_ssim_ref": 0.9525848627090454,
132
+ "depth": 0.007045427813205428,
133
+ "rgb_loss": 0.026374271139502525,
134
+ "seg_loss": 0.034154150635004044,
135
+ "total": 0.06053546906496493
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029346557334065437,
141
+ "ssim_fused": 0.9366161823272705,
142
+ "seg_l1": 0.03275860473513603,
143
+ "seg_ssim_ref": 0.9366165995597839,
144
+ "depth": 0.0054482021412711286,
145
+ "rgb_loss": 0.03615400940179825,
146
+ "seg_loss": 0.03888356685638428,
147
+ "total": 0.07504302446032379,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.0054482021412711286,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004890458000646128
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024720119312405586,
174
+ "ssim_fused": 0.9482132792472839,
175
+ "seg_l1": 0.0401277095079422,
176
+ "seg_ssim_ref": 0.9482131600379944,
177
+ "depth": 0.010353762631233937,
178
+ "rgb_loss": 0.0301334410905838,
179
+ "seg_loss": 0.04245953634381294,
180
+ "total": 0.07260332747173769,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010353762631233937,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009706065148595048
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014213800430297852,
207
+ "ssim_fused": 0.9651479125022888,
208
+ "seg_l1": 0.023468831554055214,
209
+ "seg_ssim_ref": 0.9651477336883545,
210
+ "depth": 0.006352512887926358,
211
+ "rgb_loss": 0.018341459333896637,
212
+ "seg_loss": 0.025745520368218422,
213
+ "total": 0.04409333035235784,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006352512887926358,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006352512887926359
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016175784170627594,
240
+ "ssim_fused": 0.9603622555732727,
241
+ "seg_l1": 0.02700050361454487,
242
+ "seg_ssim_ref": 0.9603620767593384,
243
+ "depth": 0.0060272335923902895,
244
+ "rgb_loss": 0.020868176594376564,
245
+ "seg_loss": 0.02952798828482628,
246
+ "total": 0.05040219397544038,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.0060272335923902895,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.0060272335923902895
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 321,
281
+ "adam_update_count": 53286
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.21643079281784594
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_ffc7eb5352244a61822c5019878ff0b9_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 322,
293
+ "next_interval": 0,
294
+ "next_adam_update": 53287,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 321,
300
+ "trained_intervals": 53286,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 53286,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.900507926940918,
333
+ "median": 7.356499671936035,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7729475498199463,
354
+ "median": 5.550785064697266,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.14949266612529755,
361
+ "median": 1566.34423828125,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.02298421785235405,
382
+ "median": 257.4440612792969,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 501,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0322.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0322",
5
+ "executed_epochs": 322,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_3aac687bdf414814944816b62c7cb2ae.npz",
37
+ "optimizer_file": "boundary_3aac687bdf414814944816b62c7cb2ae_optimizer.pt",
38
+ "arrays_sha256": "2d91705d4b9ef24cecfe3e16d07bd8699418ee0bf73792048268b1c8126a239a",
39
+ "optimizer_sha256": "6a2982bb99572f7330ac531755a33f33c73664c0e75bbfc771b68bf6a307d463",
40
+ "stage": "adam",
41
+ "completed_passes": 322,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 53452,
45
+ "adam_update_count": 53452,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 323,
49
+ "consumed_count": 322,
50
+ "last_submitted_update": 53452,
51
+ "last_consumed_update": 53286,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 53452,
56
+ "completed_passes": 322,
57
+ "next_interval": 0,
58
+ "trained_intervals": 53452,
59
+ "snapshot": "pass_end_0322",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 322,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 53452,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 53452,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0001018838447635062,
83
+ "update_l2": 0.0001361992908641696
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3083993508189451e-05,
95
+ "update_l2": 6.589189433725551e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.060609238073942175,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 501,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.060609238073942175,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021139614284038544,
129
+ "ssim_fused": 0.952549397945404,
130
+ "seg_l1": 0.03088783472776413,
131
+ "seg_ssim_ref": 0.9525494575500488,
132
+ "depth": 0.007056482848633508,
133
+ "rgb_loss": 0.026401802897453308,
134
+ "seg_loss": 0.03420037776231766,
135
+ "total": 0.060609238073942175
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029377741739153862,
141
+ "ssim_fused": 0.9365744590759277,
142
+ "seg_l1": 0.03282034397125244,
143
+ "seg_ssim_ref": 0.9365746974945068,
144
+ "depth": 0.005458543545575036,
145
+ "rgb_loss": 0.0361873023211956,
146
+ "seg_loss": 0.038941338658332825,
147
+ "total": 0.0751341032483643,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005458543545575036,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004900799404950037
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024744994938373566,
174
+ "ssim_fused": 0.9481610059738159,
175
+ "seg_l1": 0.04017549008131027,
176
+ "seg_ssim_ref": 0.9481610059738159,
177
+ "depth": 0.010364512894278807,
178
+ "rgb_loss": 0.03016379475593567,
179
+ "seg_loss": 0.042508192360401154,
180
+ "total": 0.0726823516292311,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010364512894278807,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009716815411639917
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.0142359035089612,
207
+ "ssim_fused": 0.9651200771331787,
208
+ "seg_l1": 0.023507986217737198,
209
+ "seg_ssim_ref": 0.9651200175285339,
210
+ "depth": 0.006365051081331136,
211
+ "rgb_loss": 0.01836470700800419,
212
+ "seg_loss": 0.025782385841012,
213
+ "total": 0.04415345790009752,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006365051081331136,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.0063650510813311354
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016199810430407524,
240
+ "ssim_fused": 0.9603422284126282,
241
+ "seg_l1": 0.02704751305282116,
242
+ "seg_ssim_ref": 0.9603420495986938,
243
+ "depth": 0.006037823873349052,
244
+ "rgb_loss": 0.020891401916742325,
245
+ "seg_loss": 0.029569601640105247,
246
+ "total": 0.050467039518075775,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006037823873349052,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.006037823873349052
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 322,
281
+ "adam_update_count": 53452
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.2202034790534526
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_3aac687bdf414814944816b62c7cb2ae_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 323,
293
+ "next_interval": 0,
294
+ "next_adam_update": 53453,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 322,
300
+ "trained_intervals": 53452,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 53452,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.9079567193984985,
333
+ "median": 7.356189727783203,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.7658400535583496,
354
+ "median": 5.5492353439331055,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.1483832746744156,
361
+ "median": 1565.8587646484375,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.023148158565163612,
382
+ "median": 257.0788879394531,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 501,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-photo/native/adam_epochs/pass_end_0323.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0323",
5
+ "executed_epochs": 323,
6
+ "score": null,
7
+ "best_score": 0.03637555723469957,
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_62333786a2aa40629eb0a320db092c8d.npz",
37
+ "optimizer_file": "boundary_62333786a2aa40629eb0a320db092c8d_optimizer.pt",
38
+ "arrays_sha256": "c7fe31a5b13d873492c0950ccc75ed55006033bbb45bd206a1526e30da421b2c",
39
+ "optimizer_sha256": "f7c0e108b22b23a34e111bc0014b4df62bf644c4a367a9235919b8eecf26d5ea",
40
+ "stage": "adam",
41
+ "completed_passes": 323,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 53618,
45
+ "adam_update_count": 53618,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 324,
49
+ "consumed_count": 323,
50
+ "last_submitted_update": 53618,
51
+ "last_consumed_update": 53452,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 53618,
56
+ "completed_passes": 323,
57
+ "next_interval": 0,
58
+ "trained_intervals": 53618,
59
+ "snapshot": "pass_end_0323",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 43326,
67
+ "pass_science": {
68
+ "completed_passes": 323,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 53618,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 53618,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 9.466180927120149e-05,
83
+ "update_l2": 0.00015203587827272713
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0,
91
+ "update_l2": 0.0
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3363342986849602e-05,
95
+ "update_l2": 6.932725955266505e-05
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.06110130446541599,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 501,
109
+ "attachment": 27,
110
+ "ground": 2
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0090935230255127,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 1.0052064657211304,
117
+ "ground_restitution/effective": 1.0,
118
+ "ground_restitution/clamp_changed": 1,
119
+ "ground_friction/contact_active": null,
120
+ "ground_restitution/contact_active": null
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 165,
124
+ "loss": 0.06110130446541599,
125
+ "state_finite": true,
126
+ "frame_index": 230,
127
+ "components": {
128
+ "l1": 0.021308839321136475,
129
+ "ssim_fused": 0.9522871971130371,
130
+ "seg_l1": 0.031202448531985283,
131
+ "seg_ssim_ref": 0.9522871971130371,
132
+ "depth": 0.007138685765784207,
133
+ "rgb_loss": 0.026589639484882355,
134
+ "seg_loss": 0.03450452908873558,
135
+ "total": 0.06110130446541599
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029633665457367897,
141
+ "ssim_fused": 0.9361691474914551,
142
+ "seg_l1": 0.03320779278874397,
143
+ "seg_ssim_ref": 0.9361693263053894,
144
+ "depth": 0.005528687325626767,
145
+ "rgb_loss": 0.0364731028676033,
146
+ "seg_loss": 0.039332371205091476,
147
+ "total": 0.07581099903473011,
148
+ "valid_depth_pixels": 46798,
149
+ "excluded_depth_pixels": 874802,
150
+ "object_depth_holes": 2111,
151
+ "depth_full_image_mean_m": 0.005528687325626767,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 45524,
155
+ "full_image_mean_m": 0.004970943185001768
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 1274,
159
+ "full_image_mean_m": 0.000557744140625
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": 0.024957852438092232,
174
+ "ssim_fused": 0.9478472471237183,
175
+ "seg_l1": 0.040608786046504974,
176
+ "seg_ssim_ref": 0.9478472471237183,
177
+ "depth": 0.010510225492367624,
178
+ "rgb_loss": 0.030396834015846252,
179
+ "seg_loss": 0.042917583137750626,
180
+ "total": 0.07332492365379895,
181
+ "valid_depth_pixels": 23991,
182
+ "excluded_depth_pixels": 897609,
183
+ "object_depth_holes": 865,
184
+ "depth_full_image_mean_m": 0.010510225492367624,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 22867,
188
+ "full_image_mean_m": 0.009862528009728736
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 1124,
192
+ "full_image_mean_m": 0.0006476974826388891
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": 0.014341628178954124,
207
+ "ssim_fused": 0.9649839997291565,
208
+ "seg_l1": 0.023733748123049736,
209
+ "seg_ssim_ref": 0.9649838209152222,
210
+ "depth": 0.006428870940332611,
211
+ "rgb_loss": 0.01847650296986103,
212
+ "seg_loss": 0.025990234687924385,
213
+ "total": 0.044473166528725745,
214
+ "valid_depth_pixels": 17576,
215
+ "excluded_depth_pixels": 904024,
216
+ "object_depth_holes": 295,
217
+ "depth_full_image_mean_m": 0.006428870940332611,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 17576,
221
+ "full_image_mean_m": 0.006428870940332612
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 0,
225
+ "full_image_mean_m": 0.0
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": 0.016302213072776794,
240
+ "ssim_fused": 0.960148274898529,
241
+ "seg_l1": 0.027259461581707,
242
+ "seg_ssim_ref": 0.9601482152938843,
243
+ "depth": 0.006086959304809828,
244
+ "rgb_loss": 0.021012116223573685,
245
+ "seg_loss": 0.029777927324175835,
246
+ "total": 0.05079612864440918,
247
+ "valid_depth_pixels": 21072,
248
+ "excluded_depth_pixels": 900528,
249
+ "object_depth_holes": 256,
250
+ "depth_full_image_mean_m": 0.006086959304809828,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 21072,
254
+ "full_image_mean_m": 0.00608695930480983
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
+ 229,
273
+ 230
274
+ ],
275
+ "times_s": [
276
+ 5.5,
277
+ 5.533333333333333
278
+ ]
279
+ },
280
+ "completed_passes": 323,
281
+ "adam_update_count": 53618
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.23597605805844069
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_62333786a2aa40629eb0a320db092c8d_rng.pt",
290
+ "rng_sha256": "2981da6a7a05e867de4d84ae621c4fae034781bc772cbc49c32290e3b38db5fa",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 324,
293
+ "next_interval": 0,
294
+ "next_adam_update": 53619,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 323,
300
+ "trained_intervals": 53618,
301
+ "source_timestamp_s": 5.533333333333333,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 83000
304
+ },
305
+ "trained_intervals": 53618,
306
+ "source_timestamp_s": 5.533333333333333,
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": -1.9093884229660034,
333
+ "median": 7.3553876876831055,
334
+ "max": 11.530586242675781,
335
+ "finite_count": 13559,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0090935230255127,
340
+ "median": 2.0090935230255127,
341
+ "max": 2.0090935230255127,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 1.0052064657211304,
347
+ "median": 1.0052064657211304,
348
+ "max": 1.0052064657211304,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -3.764378547668457,
354
+ "median": 5.549605369567871,
355
+ "max": 11.5305757522583,
356
+ "finite_count": 300,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.14817097783088684,
361
+ "median": 1564.603515625,
362
+ "max": 100000.0,
363
+ "finite_count": 13559,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 13559,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 13559,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.023182014003396034,
382
+ "median": 257.17449951171875,
383
+ "max": 100000.0,
384
+ "finite_count": 300,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 300,
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": 300,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 1.0,
410
+ "median": 1.0,
411
+ "max": 1.0,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 1,
419
+ "object_edge_stiffness": 501,
420
+ "controller_edge_stiffness": 27
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }