processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo: payload batch 20/26
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0374.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0375.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0376.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0377.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0378.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0379.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0380.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0381.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0382.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0383.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0384.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0385.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0386.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0387.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0388.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0389.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0390.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0391.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0392.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0393.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0394.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0395.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0396.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0397.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0398.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0399.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0400.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0401.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0402.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0403.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0404.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0405.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0406.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0407.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0408.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0409.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0410.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0411.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0412.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0413.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0414.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0415.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0416.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0417.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0418.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0419.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0420.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0421.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0422.json +423 -0
- processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0423.json +423 -0
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0374.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_0374",
|
| 5 |
+
"executed_epochs": 374,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_4866c28c61274a5b962bc63d4965f09d.npz",
|
| 37 |
+
"optimizer_file": "boundary_4866c28c61274a5b962bc63d4965f09d_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "1a27ab270cb01a926416e26a008093ebfe36c845f1fe57d34dd6246e0b5a985d",
|
| 39 |
+
"optimizer_sha256": "55ad9cb84a9363a2afee92409c159bc74fe753ba4c312d50603e5d20595e4978",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 374,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 62832,
|
| 45 |
+
"adam_update_count": 62832,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 375,
|
| 49 |
+
"consumed_count": 374,
|
| 50 |
+
"last_submitted_update": 62832,
|
| 51 |
+
"last_consumed_update": 62664,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 62832,
|
| 56 |
+
"completed_passes": 374,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 62832,
|
| 59 |
+
"snapshot": "pass_end_0374",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 374,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 62832,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 62832,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00030503657762892544,
|
| 83 |
+
"update_l2": 0.06778961420059204
|
| 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": 5.327979670255445e-05,
|
| 95 |
+
"update_l2": 0.002234053798019886
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10659333740489609,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24627,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10659333740489609,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03368130326271057,
|
| 129 |
+
"ssim_fused": 0.8936124444007874,
|
| 130 |
+
"seg_l1": 0.04635099321603775,
|
| 131 |
+
"seg_ssim_ref": 0.8936110734939575,
|
| 132 |
+
"depth": 0.01220082061416308,
|
| 133 |
+
"rgb_loss": 0.048222556710243225,
|
| 134 |
+
"seg_loss": 0.058358579874038696,
|
| 135 |
+
"total": 0.10659333740489609
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051093149930238724,
|
| 141 |
+
"ssim_fused": 0.876126766204834,
|
| 142 |
+
"seg_l1": 0.06072904169559479,
|
| 143 |
+
"seg_ssim_ref": 0.8761261105537415,
|
| 144 |
+
"depth": 0.019037776400189225,
|
| 145 |
+
"rgb_loss": 0.06564916670322418,
|
| 146 |
+
"seg_loss": 0.07335801422595978,
|
| 147 |
+
"total": 0.13902621870558415,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019037776400189225,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01354755287588367
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03843049332499504,
|
| 174 |
+
"ssim_fused": 0.8775616884231567,
|
| 175 |
+
"seg_l1": 0.06267991662025452,
|
| 176 |
+
"seg_ssim_ref": 0.877560019493103,
|
| 177 |
+
"depth": 0.014311892069125963,
|
| 178 |
+
"rgb_loss": 0.055232055485248566,
|
| 179 |
+
"seg_loss": 0.07463192939758301,
|
| 180 |
+
"total": 0.1298782893243201,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014311892069125963,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011217622320862075
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025408310815691948,
|
| 207 |
+
"ssim_fused": 0.9093101024627686,
|
| 208 |
+
"seg_l1": 0.03714156523346901,
|
| 209 |
+
"seg_ssim_ref": 0.9093087315559387,
|
| 210 |
+
"depth": 0.00995154514541358,
|
| 211 |
+
"rgb_loss": 0.03846462815999985,
|
| 212 |
+
"seg_loss": 0.04785150662064552,
|
| 213 |
+
"total": 0.08632609005108108,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00995154514541358,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008663530822496912
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019793251529335976,
|
| 240 |
+
"ssim_fused": 0.9114511013031006,
|
| 241 |
+
"seg_l1": 0.024853456765413284,
|
| 242 |
+
"seg_ssim_ref": 0.9114494919776917,
|
| 243 |
+
"depth": 0.005502068841923546,
|
| 244 |
+
"rgb_loss": 0.0335443839430809,
|
| 245 |
+
"seg_loss": 0.037592869251966476,
|
| 246 |
+
"total": 0.071142751538599,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005502068841923546,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005502068841923546
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 374,
|
| 281 |
+
"adam_update_count": 62832
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24770681513473392
|
| 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_4866c28c61274a5b962bc63d4965f09d_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 375,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 62833,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 374,
|
| 300 |
+
"trained_intervals": 62832,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 62832,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.2661566734313965,
|
| 333 |
+
"median": 11.0715970993042,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.6260913610458374,
|
| 354 |
+
"median": 9.184615135192871,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.000698792573530227,
|
| 361 |
+
"median": 64318.14453125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.19669689238071442,
|
| 382 |
+
"median": 9861.3779296875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24627,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0375.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_0375",
|
| 5 |
+
"executed_epochs": 375,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_73a5c16cb7944c0b8ea1b4a3dec71c5f.npz",
|
| 37 |
+
"optimizer_file": "boundary_73a5c16cb7944c0b8ea1b4a3dec71c5f_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "81c131db5a9795ac9fd1efc4083e13b7d8d7794c25564e7848e08b4d4ba96e4f",
|
| 39 |
+
"optimizer_sha256": "92c5ed20e7d37c4ebbfc056b664b5e13cdc433ace7cd335200c6abcb80e621a0",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 375,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63000,
|
| 45 |
+
"adam_update_count": 63000,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 376,
|
| 49 |
+
"consumed_count": 375,
|
| 50 |
+
"last_submitted_update": 63000,
|
| 51 |
+
"last_consumed_update": 62832,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63000,
|
| 56 |
+
"completed_passes": 375,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63000,
|
| 59 |
+
"snapshot": "pass_end_0375",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 375,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63000,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63000,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00036705247475765646,
|
| 83 |
+
"update_l2": 0.0551765076816082
|
| 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": 6.384615699062124e-05,
|
| 95 |
+
"update_l2": 0.002513858722522855
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10676960451188616,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24634,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10676960451188616,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03377629071474075,
|
| 129 |
+
"ssim_fused": 0.8936473727226257,
|
| 130 |
+
"seg_l1": 0.046493809670209885,
|
| 131 |
+
"seg_ssim_ref": 0.8936460614204407,
|
| 132 |
+
"depth": 0.01220581713251967,
|
| 133 |
+
"rgb_loss": 0.048291560262441635,
|
| 134 |
+
"seg_loss": 0.05846583470702171,
|
| 135 |
+
"total": 0.10676960451188616
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05139971151947975,
|
| 141 |
+
"ssim_fused": 0.8758989572525024,
|
| 142 |
+
"seg_l1": 0.06096566841006279,
|
| 143 |
+
"seg_ssim_ref": 0.8758982419967651,
|
| 144 |
+
"depth": 0.019103844054529265,
|
| 145 |
+
"rgb_loss": 0.06593997776508331,
|
| 146 |
+
"seg_loss": 0.0735928863286972,
|
| 147 |
+
"total": 0.13955196793783506,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019103844054529265,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013613620530223709
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038568560034036636,
|
| 174 |
+
"ssim_fused": 0.877005398273468,
|
| 175 |
+
"seg_l1": 0.06278768926858902,
|
| 176 |
+
"seg_ssim_ref": 0.8770037889480591,
|
| 177 |
+
"depth": 0.014232022107297609,
|
| 178 |
+
"rgb_loss": 0.055453769862651825,
|
| 179 |
+
"seg_loss": 0.07482939958572388,
|
| 180 |
+
"total": 0.1302974089210636,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014232022107297609,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011137752359033718
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025547616183757782,
|
| 207 |
+
"ssim_fused": 0.9091314673423767,
|
| 208 |
+
"seg_l1": 0.03764297068119049,
|
| 209 |
+
"seg_ssim_ref": 0.9091302156448364,
|
| 210 |
+
"depth": 0.010046834170785732,
|
| 211 |
+
"rgb_loss": 0.038611799478530884,
|
| 212 |
+
"seg_loss": 0.04828833416104317,
|
| 213 |
+
"total": 0.08691017674845454,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010046834170785732,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008758819847869066
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019589269533753395,
|
| 240 |
+
"ssim_fused": 0.9125535488128662,
|
| 241 |
+
"seg_l1": 0.024578914046287537,
|
| 242 |
+
"seg_ssim_ref": 0.9125520586967468,
|
| 243 |
+
"depth": 0.005440568197466071,
|
| 244 |
+
"rgb_loss": 0.033160705119371414,
|
| 245 |
+
"seg_loss": 0.037152718752622604,
|
| 246 |
+
"total": 0.07031886444019149,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005440568197466071,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005440568197466071
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 375,
|
| 281 |
+
"adam_update_count": 63000
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24333362304605544
|
| 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_73a5c16cb7944c0b8ea1b4a3dec71c5f_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 376,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63001,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 375,
|
| 300 |
+
"trained_intervals": 63000,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63000,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.272820949554443,
|
| 333 |
+
"median": 11.07691478729248,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.6435227394104004,
|
| 354 |
+
"median": 9.190792083740234,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006941510946489871,
|
| 361 |
+
"median": 64661.08203125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.19329789280891418,
|
| 382 |
+
"median": 9929.119140625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24634,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0376.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_0376",
|
| 5 |
+
"executed_epochs": 376,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_39d9844d9ec043fd999bbd470dfa7137.npz",
|
| 37 |
+
"optimizer_file": "boundary_39d9844d9ec043fd999bbd470dfa7137_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "a13e5c6cfe363cb7edac67dff4fdaa7c5ebd98ef0e9afc36296a8923c46342cb",
|
| 39 |
+
"optimizer_sha256": "f23e7022787e3f7f2d5d3fa23e804e2c1d7d08b282441032125244791610c4cf",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 376,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63168,
|
| 45 |
+
"adam_update_count": 63168,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 377,
|
| 49 |
+
"consumed_count": 376,
|
| 50 |
+
"last_submitted_update": 63168,
|
| 51 |
+
"last_consumed_update": 63000,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63168,
|
| 56 |
+
"completed_passes": 376,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63168,
|
| 59 |
+
"snapshot": "pass_end_0376",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 376,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63168,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63168,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0007481283973902464,
|
| 83 |
+
"update_l2": 0.06458822637796402
|
| 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": 2.4983304683701135e-05,
|
| 95 |
+
"update_l2": 0.0030373733025044203
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10665338745913887,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24640,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10665338745913887,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033754922449588776,
|
| 129 |
+
"ssim_fused": 0.8938616514205933,
|
| 130 |
+
"seg_l1": 0.046476803719997406,
|
| 131 |
+
"seg_ssim_ref": 0.8938604593276978,
|
| 132 |
+
"depth": 0.012430163244251646,
|
| 133 |
+
"rgb_loss": 0.04823160171508789,
|
| 134 |
+
"seg_loss": 0.05840935558080673,
|
| 135 |
+
"total": 0.10665338745913887
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051908206194639206,
|
| 141 |
+
"ssim_fused": 0.874964714050293,
|
| 142 |
+
"seg_l1": 0.061941251158714294,
|
| 143 |
+
"seg_ssim_ref": 0.87496417760849,
|
| 144 |
+
"depth": 0.01947655713990654,
|
| 145 |
+
"rgb_loss": 0.06653362512588501,
|
| 146 |
+
"seg_loss": 0.07456016540527344,
|
| 147 |
+
"total": 0.14111326708829836,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01947655713990654,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013986333615600985
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038456108421087265,
|
| 174 |
+
"ssim_fused": 0.8775041699409485,
|
| 175 |
+
"seg_l1": 0.06265692412853241,
|
| 176 |
+
"seg_ssim_ref": 0.8775026202201843,
|
| 177 |
+
"depth": 0.014466876533566975,
|
| 178 |
+
"rgb_loss": 0.055264055728912354,
|
| 179 |
+
"seg_loss": 0.07462501525878906,
|
| 180 |
+
"total": 0.12990353786423497,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014466876533566975,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011372606785303085
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025365151464939117,
|
| 207 |
+
"ssim_fused": 0.9090386033058167,
|
| 208 |
+
"seg_l1": 0.03723250329494476,
|
| 209 |
+
"seg_ssim_ref": 0.9090373516082764,
|
| 210 |
+
"depth": 0.010180707265062568,
|
| 211 |
+
"rgb_loss": 0.03848440200090408,
|
| 212 |
+
"seg_loss": 0.047978535294532776,
|
| 213 |
+
"total": 0.08647311800270192,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010180707265062568,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.0088926929421459
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019290225580334663,
|
| 240 |
+
"ssim_fused": 0.9139392375946045,
|
| 241 |
+
"seg_l1": 0.024076543748378754,
|
| 242 |
+
"seg_ssim_ref": 0.9139376878738403,
|
| 243 |
+
"depth": 0.005596512038470505,
|
| 244 |
+
"rgb_loss": 0.03264433145523071,
|
| 245 |
+
"seg_loss": 0.036473698914051056,
|
| 246 |
+
"total": 0.06912362688132023,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005596512038470505,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005596512038470505
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 376,
|
| 281 |
+
"adam_update_count": 63168
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.25120378215797246
|
| 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_39d9844d9ec043fd999bbd470dfa7137_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 377,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63169,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 376,
|
| 300 |
+
"trained_intervals": 63168,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63168,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.276721000671387,
|
| 333 |
+
"median": 11.091306686401367,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.6590173244476318,
|
| 354 |
+
"median": 9.185393333435059,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006914490950293839,
|
| 361 |
+
"median": 65598.40625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.19032591581344604,
|
| 382 |
+
"median": 9881.646484375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24641,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0377.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_0377",
|
| 5 |
+
"executed_epochs": 377,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_ca84743ecb5944ad8d83cacf14dc627e.npz",
|
| 37 |
+
"optimizer_file": "boundary_ca84743ecb5944ad8d83cacf14dc627e_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "fdf26bf7a470b732942b6f86a8fbda4597a60ecf5e1d3ef9bec85396034f3dec",
|
| 39 |
+
"optimizer_sha256": "2b9d09251ced43e731ed52fea11cc7eb3ce347ff58f9bd246496e8c795606194",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 377,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63336,
|
| 45 |
+
"adam_update_count": 63336,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 378,
|
| 49 |
+
"consumed_count": 377,
|
| 50 |
+
"last_submitted_update": 63336,
|
| 51 |
+
"last_consumed_update": 63168,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63336,
|
| 56 |
+
"completed_passes": 377,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63336,
|
| 59 |
+
"snapshot": "pass_end_0377",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 377,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63336,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63336,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00015087798237800598,
|
| 83 |
+
"update_l2": 0.059255097061395645
|
| 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": 2.7246371246292256e-05,
|
| 95 |
+
"update_l2": 0.0029450401198118925
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10647168087951876,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24657,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10647168087951876,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033705100417137146,
|
| 129 |
+
"ssim_fused": 0.8940362334251404,
|
| 130 |
+
"seg_l1": 0.04638681560754776,
|
| 131 |
+
"seg_ssim_ref": 0.8940350413322449,
|
| 132 |
+
"depth": 0.012405991480125554,
|
| 133 |
+
"rgb_loss": 0.04815682768821716,
|
| 134 |
+
"seg_loss": 0.05830244719982147,
|
| 135 |
+
"total": 0.10647168087951876
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05177604407072067,
|
| 141 |
+
"ssim_fused": 0.875191867351532,
|
| 142 |
+
"seg_l1": 0.06166580319404602,
|
| 143 |
+
"seg_ssim_ref": 0.875191330909729,
|
| 144 |
+
"depth": 0.01937743139246608,
|
| 145 |
+
"rgb_loss": 0.06638246029615402,
|
| 146 |
+
"seg_loss": 0.07429438084363937,
|
| 147 |
+
"total": 0.14069621857118586,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01937743139246608,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013887207868160525
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03834988549351692,
|
| 174 |
+
"ssim_fused": 0.8777979612350464,
|
| 175 |
+
"seg_l1": 0.06247750297188759,
|
| 176 |
+
"seg_ssim_ref": 0.8777964115142822,
|
| 177 |
+
"depth": 0.014457965848753487,
|
| 178 |
+
"rgb_loss": 0.0551203191280365,
|
| 179 |
+
"seg_loss": 0.07442272454500198,
|
| 180 |
+
"total": 0.12955749418830664,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014457965848753487,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011363696100489599
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025338241830468178,
|
| 207 |
+
"ssim_fused": 0.9093263745307922,
|
| 208 |
+
"seg_l1": 0.03720667213201523,
|
| 209 |
+
"seg_ssim_ref": 0.9093250036239624,
|
| 210 |
+
"depth": 0.010175461229265976,
|
| 211 |
+
"rgb_loss": 0.038405321538448334,
|
| 212 |
+
"seg_loss": 0.04790033772587776,
|
| 213 |
+
"total": 0.08631583845084566,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010175461229265976,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00888744690634931
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01935623586177826,
|
| 240 |
+
"ssim_fused": 0.9138288497924805,
|
| 241 |
+
"seg_l1": 0.024197284132242203,
|
| 242 |
+
"seg_ssim_ref": 0.9138274192810059,
|
| 243 |
+
"depth": 0.0056131074500166715,
|
| 244 |
+
"rgb_loss": 0.032719217240810394,
|
| 245 |
+
"seg_loss": 0.03659234568476677,
|
| 246 |
+
"total": 0.06931717230773689,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0056131074500166715,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005613107450016671
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 377,
|
| 281 |
+
"adam_update_count": 63336
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24791684304364026
|
| 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_ca84743ecb5944ad8d83cacf14dc627e_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 378,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63337,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 377,
|
| 300 |
+
"trained_intervals": 63336,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63336,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.279317378997803,
|
| 333 |
+
"median": 11.09266185760498,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.6766270399093628,
|
| 354 |
+
"median": 9.183012008666992,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006896561826579273,
|
| 361 |
+
"median": 65687.3671875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.18700365722179413,
|
| 382 |
+
"median": 9862.013671875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24657,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0378.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_0378",
|
| 5 |
+
"executed_epochs": 378,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_2dd204a42dd342c6ae93c2722e418d15.npz",
|
| 37 |
+
"optimizer_file": "boundary_2dd204a42dd342c6ae93c2722e418d15_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "003aaec32708fc516ae74f3508b47f093cbf38059b12bf903f40bf391e3f7a98",
|
| 39 |
+
"optimizer_sha256": "8a8a9ec4d7e8050103f8c6d8425b5b831cdf82f4c5a142a8c7814573c7cbe7c5",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 378,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63504,
|
| 45 |
+
"adam_update_count": 63504,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 379,
|
| 49 |
+
"consumed_count": 378,
|
| 50 |
+
"last_submitted_update": 63504,
|
| 51 |
+
"last_consumed_update": 63336,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63504,
|
| 56 |
+
"completed_passes": 378,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63504,
|
| 59 |
+
"snapshot": "pass_end_0378",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 378,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63504,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63504,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016295546083711088,
|
| 83 |
+
"update_l2": 0.05708325654268265
|
| 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": 2.653599949553609e-05,
|
| 95 |
+
"update_l2": 0.003450303338468075
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10624434850075393,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24668,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10624434850075393,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03364618495106697,
|
| 129 |
+
"ssim_fused": 0.8941929936408997,
|
| 130 |
+
"seg_l1": 0.04623997211456299,
|
| 131 |
+
"seg_ssim_ref": 0.8941917419433594,
|
| 132 |
+
"depth": 0.01237033763079031,
|
| 133 |
+
"rgb_loss": 0.048078350722789764,
|
| 134 |
+
"seg_loss": 0.058153629302978516,
|
| 135 |
+
"total": 0.10624434850075393
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05180153250694275,
|
| 141 |
+
"ssim_fused": 0.8751247525215149,
|
| 142 |
+
"seg_l1": 0.061604954302310944,
|
| 143 |
+
"seg_ssim_ref": 0.8751240372657776,
|
| 144 |
+
"depth": 0.019320150816766028,
|
| 145 |
+
"rgb_loss": 0.06641627848148346,
|
| 146 |
+
"seg_loss": 0.07425915449857712,
|
| 147 |
+
"total": 0.14069474568029675,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019320150816766028,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01382992729246047
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038389235734939575,
|
| 174 |
+
"ssim_fused": 0.8777621388435364,
|
| 175 |
+
"seg_l1": 0.062494974583387375,
|
| 176 |
+
"seg_ssim_ref": 0.8777605891227722,
|
| 177 |
+
"depth": 0.01444761695858893,
|
| 178 |
+
"rgb_loss": 0.055158961564302444,
|
| 179 |
+
"seg_loss": 0.07444386184215546,
|
| 180 |
+
"total": 0.1296172672981262,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01444761695858893,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011353347210325044
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025113055482506752,
|
| 207 |
+
"ssim_fused": 0.9101421236991882,
|
| 208 |
+
"seg_l1": 0.0368080697953701,
|
| 209 |
+
"seg_ssim_ref": 0.910140872001648,
|
| 210 |
+
"depth": 0.01009686885661161,
|
| 211 |
+
"rgb_loss": 0.038062021136283875,
|
| 212 |
+
"seg_loss": 0.04741828143596649,
|
| 213 |
+
"total": 0.08549039944110698,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.01009686885661161,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008808854533694942
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019280923530459404,
|
| 240 |
+
"ssim_fused": 0.9137429594993591,
|
| 241 |
+
"seg_l1": 0.024051891639828682,
|
| 242 |
+
"seg_ssim_ref": 0.9137414693832397,
|
| 243 |
+
"depth": 0.005616713891194668,
|
| 244 |
+
"rgb_loss": 0.03267614543437958,
|
| 245 |
+
"seg_loss": 0.036493219435214996,
|
| 246 |
+
"total": 0.06917498158348577,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005616713891194668,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005616713891194668
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 378,
|
| 281 |
+
"adam_update_count": 63504
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.25465557305142283
|
| 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_2dd204a42dd342c6ae93c2722e418d15_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 379,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63505,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 378,
|
| 300 |
+
"trained_intervals": 63504,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63504,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.281984806060791,
|
| 333 |
+
"median": 11.100549697875977,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.6927443742752075,
|
| 354 |
+
"median": 9.173190116882324,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006878190324641764,
|
| 361 |
+
"median": 66207.546875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.18401382863521576,
|
| 382 |
+
"median": 9779.2822265625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24668,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0379.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_0379",
|
| 5 |
+
"executed_epochs": 379,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_e9dbb1a110eb4b3b85c553af1642a8dc.npz",
|
| 37 |
+
"optimizer_file": "boundary_e9dbb1a110eb4b3b85c553af1642a8dc_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "a8ec8eb3fe818f67e2fc2489825f48511c67f4750fd13924e134ad0319afea7b",
|
| 39 |
+
"optimizer_sha256": "c58fd117782e29d5cbe29930e13c29ccb7fe28715ea570ab917114664f73bf50",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 379,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63672,
|
| 45 |
+
"adam_update_count": 63672,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 380,
|
| 49 |
+
"consumed_count": 379,
|
| 50 |
+
"last_submitted_update": 63672,
|
| 51 |
+
"last_consumed_update": 63504,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63672,
|
| 56 |
+
"completed_passes": 379,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63672,
|
| 59 |
+
"snapshot": "pass_end_0379",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 379,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63672,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63672,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00026578697725199163,
|
| 83 |
+
"update_l2": 0.057746462523937225
|
| 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": 2.373221650486812e-05,
|
| 95 |
+
"update_l2": 0.003008888801559806
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10722402076118223,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24679,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10722402076118223,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033965274691581726,
|
| 129 |
+
"ssim_fused": 0.8936383128166199,
|
| 130 |
+
"seg_l1": 0.0468679741024971,
|
| 131 |
+
"seg_ssim_ref": 0.8936370611190796,
|
| 132 |
+
"depth": 0.012507316400925759,
|
| 133 |
+
"rgb_loss": 0.04844455048441887,
|
| 134 |
+
"seg_loss": 0.058766961097717285,
|
| 135 |
+
"total": 0.10722402076118223
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05190427601337433,
|
| 141 |
+
"ssim_fused": 0.875087320804596,
|
| 142 |
+
"seg_l1": 0.06187598407268524,
|
| 143 |
+
"seg_ssim_ref": 0.8750867247581482,
|
| 144 |
+
"depth": 0.01945552910605368,
|
| 145 |
+
"rgb_loss": 0.06650596112012863,
|
| 146 |
+
"seg_loss": 0.07448344677686691,
|
| 147 |
+
"total": 0.1410088634261016,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01945552910605368,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013965305581748123
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03854124993085861,
|
| 174 |
+
"ssim_fused": 0.8774171471595764,
|
| 175 |
+
"seg_l1": 0.06274326890707016,
|
| 176 |
+
"seg_ssim_ref": 0.8774157166481018,
|
| 177 |
+
"depth": 0.014458524425950211,
|
| 178 |
+
"rgb_loss": 0.055349573493003845,
|
| 179 |
+
"seg_loss": 0.07471147179603577,
|
| 180 |
+
"total": 0.13007550381346555,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014458524425950211,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011364254677686323
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025684136897325516,
|
| 207 |
+
"ssim_fused": 0.9088349342346191,
|
| 208 |
+
"seg_l1": 0.037913598120212555,
|
| 209 |
+
"seg_ssim_ref": 0.9088335633277893,
|
| 210 |
+
"depth": 0.010341746192141954,
|
| 211 |
+
"rgb_loss": 0.038780324161052704,
|
| 212 |
+
"seg_loss": 0.04856416583061218,
|
| 213 |
+
"total": 0.08735483173785703,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010341746192141954,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.009053731869225284
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019731424748897552,
|
| 240 |
+
"ssim_fused": 0.9132139682769775,
|
| 241 |
+
"seg_l1": 0.02493903785943985,
|
| 242 |
+
"seg_ssim_ref": 0.9132123589515686,
|
| 243 |
+
"depth": 0.0057734658795571886,
|
| 244 |
+
"rgb_loss": 0.033142346888780594,
|
| 245 |
+
"seg_loss": 0.03730875998735428,
|
| 246 |
+
"total": 0.07045688406730473,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0057734658795571886,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0057734658795571886
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 379,
|
| 281 |
+
"adam_update_count": 63672
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2397605290170759
|
| 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_e9dbb1a110eb4b3b85c553af1642a8dc_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 380,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63673,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 379,
|
| 300 |
+
"trained_intervals": 63672,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63672,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.287303447723389,
|
| 333 |
+
"median": 11.1148042678833,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.7097219228744507,
|
| 354 |
+
"median": 9.172444343566895,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006841704598627985,
|
| 361 |
+
"median": 67158.0625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.18091608583927155,
|
| 382 |
+
"median": 9771.8642578125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24679,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0380.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_0380",
|
| 5 |
+
"executed_epochs": 380,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_983a29650c1e41199d8bc5ea015026a9.npz",
|
| 37 |
+
"optimizer_file": "boundary_983a29650c1e41199d8bc5ea015026a9_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "d3749c8abf20ee854c28328f023c94b66320c9312ba7798aedefe5c9a4d67aeb",
|
| 39 |
+
"optimizer_sha256": "07441a5f36f7ac98dfb82b4adea23edff94de6d21c22c19fc66f43e07f4d183b",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 380,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 63840,
|
| 45 |
+
"adam_update_count": 63840,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 381,
|
| 49 |
+
"consumed_count": 380,
|
| 50 |
+
"last_submitted_update": 63840,
|
| 51 |
+
"last_consumed_update": 63672,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 63840,
|
| 56 |
+
"completed_passes": 380,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 63840,
|
| 59 |
+
"snapshot": "pass_end_0380",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 380,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 63840,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 63840,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016124964167829603,
|
| 83 |
+
"update_l2": 0.05350912734866142
|
| 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": 2.5675923097878695e-05,
|
| 95 |
+
"update_l2": 0.0036029061302542686
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10628362201748698,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24689,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10628362201748698,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03367309644818306,
|
| 129 |
+
"ssim_fused": 0.8942368030548096,
|
| 130 |
+
"seg_l1": 0.046284109354019165,
|
| 131 |
+
"seg_ssim_ref": 0.8942356109619141,
|
| 132 |
+
"depth": 0.012347629650525471,
|
| 133 |
+
"rgb_loss": 0.048091113567352295,
|
| 134 |
+
"seg_loss": 0.05818016082048416,
|
| 135 |
+
"total": 0.10628362201748698
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05182214826345444,
|
| 141 |
+
"ssim_fused": 0.8750603795051575,
|
| 142 |
+
"seg_l1": 0.061663370579481125,
|
| 143 |
+
"seg_ssim_ref": 0.8750598430633545,
|
| 144 |
+
"depth": 0.019353816446617322,
|
| 145 |
+
"rgb_loss": 0.06644564867019653,
|
| 146 |
+
"seg_loss": 0.07431872934103012,
|
| 147 |
+
"total": 0.14078373927825386,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019353816446617322,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013863592922311768
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03843461349606514,
|
| 174 |
+
"ssim_fused": 0.877765417098999,
|
| 175 |
+
"seg_l1": 0.06254053115844727,
|
| 176 |
+
"seg_ssim_ref": 0.8777638673782349,
|
| 177 |
+
"depth": 0.014477704725100453,
|
| 178 |
+
"rgb_loss": 0.055194608867168427,
|
| 179 |
+
"seg_loss": 0.07447965443134308,
|
| 180 |
+
"total": 0.129688733552656,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014477704725100453,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011383434976836564
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02516523003578186,
|
| 207 |
+
"ssim_fused": 0.9101881384849548,
|
| 208 |
+
"seg_l1": 0.03687412664294243,
|
| 209 |
+
"seg_ssim_ref": 0.9101868867874146,
|
| 210 |
+
"depth": 0.010003477983594508,
|
| 211 |
+
"rgb_loss": 0.03809455782175064,
|
| 212 |
+
"seg_loss": 0.04746192693710327,
|
| 213 |
+
"total": 0.0855664882368375,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010003477983594508,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008715463660677842
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019270392134785652,
|
| 240 |
+
"ssim_fused": 0.9139333963394165,
|
| 241 |
+
"seg_l1": 0.024058397859334946,
|
| 242 |
+
"seg_ssim_ref": 0.9139319062232971,
|
| 243 |
+
"depth": 0.0055555194467895985,
|
| 244 |
+
"rgb_loss": 0.03262963518500328,
|
| 245 |
+
"seg_loss": 0.03646033629775047,
|
| 246 |
+
"total": 0.06909552700220055,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0055555194467895985,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005555519446789597
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 380,
|
| 281 |
+
"adam_update_count": 63840
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23857739591039717
|
| 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_983a29650c1e41199d8bc5ea015026a9_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 381,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 63841,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 380,
|
| 300 |
+
"trained_intervals": 63840,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 63840,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.293432235717773,
|
| 333 |
+
"median": 11.121542930603027,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.7250738143920898,
|
| 354 |
+
"median": 9.163415908813477,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.000679990160278976,
|
| 361 |
+
"median": 67612.1484375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1781599074602127,
|
| 382 |
+
"median": 9693.3525390625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24689,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0381.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_0381",
|
| 5 |
+
"executed_epochs": 381,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_3f3a3bec7fb846a4bf9d4e43e427984c.npz",
|
| 37 |
+
"optimizer_file": "boundary_3f3a3bec7fb846a4bf9d4e43e427984c_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "e1e09deaefe6390f7366b30c0e008776527d427810c063e768bb4af85d7bef20",
|
| 39 |
+
"optimizer_sha256": "cdb858bb040999b7f83d45f2c5034799a4b1a403ee5f62c834e0188ebbb30fcf",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 381,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64008,
|
| 45 |
+
"adam_update_count": 64008,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 382,
|
| 49 |
+
"consumed_count": 381,
|
| 50 |
+
"last_submitted_update": 64008,
|
| 51 |
+
"last_consumed_update": 63840,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64008,
|
| 56 |
+
"completed_passes": 381,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64008,
|
| 59 |
+
"snapshot": "pass_end_0381",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 381,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64008,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64008,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00014755172014702111,
|
| 83 |
+
"update_l2": 0.05639403313398361
|
| 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": 2.4127048163791187e-05,
|
| 95 |
+
"update_l2": 0.0019386744825169444
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10664972942146064,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24704,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10664972942146064,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03376230597496033,
|
| 129 |
+
"ssim_fused": 0.8938698172569275,
|
| 130 |
+
"seg_l1": 0.046469032764434814,
|
| 131 |
+
"seg_ssim_ref": 0.8938685655593872,
|
| 132 |
+
"depth": 0.012339091026794145,
|
| 133 |
+
"rgb_loss": 0.048235874623060226,
|
| 134 |
+
"seg_loss": 0.05840151011943817,
|
| 135 |
+
"total": 0.10664972942146064
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05158925801515579,
|
| 141 |
+
"ssim_fused": 0.8754168748855591,
|
| 142 |
+
"seg_l1": 0.06119975075125694,
|
| 143 |
+
"seg_ssim_ref": 0.875416100025177,
|
| 144 |
+
"depth": 0.01913738624934301,
|
| 145 |
+
"rgb_loss": 0.0661880299448967,
|
| 146 |
+
"seg_loss": 0.07387658208608627,
|
| 147 |
+
"total": 0.1400837494172323,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01913738624934301,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013647162725037455
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03860338032245636,
|
| 174 |
+
"ssim_fused": 0.8774611353874207,
|
| 175 |
+
"seg_l1": 0.06279155611991882,
|
| 176 |
+
"seg_ssim_ref": 0.8774594664573669,
|
| 177 |
+
"depth": 0.014575220738280202,
|
| 178 |
+
"rgb_loss": 0.05539047718048096,
|
| 179 |
+
"seg_loss": 0.07474134862422943,
|
| 180 |
+
"total": 0.13014640102544867,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014575220738280202,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011480950990016316
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025321003049612045,
|
| 207 |
+
"ssim_fused": 0.9097910523414612,
|
| 208 |
+
"seg_l1": 0.03730633482336998,
|
| 209 |
+
"seg_ssim_ref": 0.9097898602485657,
|
| 210 |
+
"depth": 0.010081710815499276,
|
| 211 |
+
"rgb_loss": 0.0382985919713974,
|
| 212 |
+
"seg_loss": 0.04788709431886673,
|
| 213 |
+
"total": 0.08619576800107963,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010081710815499276,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00879369649258261
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019535589963197708,
|
| 240 |
+
"ssim_fused": 0.9128103256225586,
|
| 241 |
+
"seg_l1": 0.024578485637903214,
|
| 242 |
+
"seg_ssim_ref": 0.9128087759017944,
|
| 243 |
+
"depth": 0.005562046304054093,
|
| 244 |
+
"rgb_loss": 0.03306640684604645,
|
| 245 |
+
"seg_loss": 0.037101034075021744,
|
| 246 |
+
"total": 0.07017299924208195,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005562046304054093,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005562046304054092
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 381,
|
| 281 |
+
"adam_update_count": 64008
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2428032010793686
|
| 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_3f3a3bec7fb846a4bf9d4e43e427984c_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 382,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64009,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 381,
|
| 300 |
+
"trained_intervals": 64008,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64008,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.299808979034424,
|
| 333 |
+
"median": 11.13198184967041,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.7410367727279663,
|
| 354 |
+
"median": 9.16827392578125,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006756678340025246,
|
| 361 |
+
"median": 68321.640625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1753385215997696,
|
| 382 |
+
"median": 9727.244140625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24705,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0382.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_0382",
|
| 5 |
+
"executed_epochs": 382,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_ed9959693410446bab5eae17707c3149.npz",
|
| 37 |
+
"optimizer_file": "boundary_ed9959693410446bab5eae17707c3149_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "cda86a6a5b1e8c5511aeb38fc50fd5d4d01d5f533e649dd8e610a2c3dc95dcdf",
|
| 39 |
+
"optimizer_sha256": "d4bd92b3d806225008f1102a742e7e8234f09697701b1c3bc0d381e9d682c00c",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 382,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64176,
|
| 45 |
+
"adam_update_count": 64176,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 383,
|
| 49 |
+
"consumed_count": 382,
|
| 50 |
+
"last_submitted_update": 64176,
|
| 51 |
+
"last_consumed_update": 64008,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64176,
|
| 56 |
+
"completed_passes": 382,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64176,
|
| 59 |
+
"snapshot": "pass_end_0382",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 382,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64176,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64176,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00020364587544463575,
|
| 83 |
+
"update_l2": 0.06455596536397934
|
| 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": 1.8951930542243645e-05,
|
| 95 |
+
"update_l2": 0.0028994579333812
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10925844926984085,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24719,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 118 |
+
"ground_restitution/clamp_changed": 1,
|
| 119 |
+
"ground_friction/contact_active": 1,
|
| 120 |
+
"ground_restitution/contact_active": 1
|
| 121 |
+
},
|
| 122 |
+
"photometric_transition": {
|
| 123 |
+
"transition_index": 167,
|
| 124 |
+
"loss": 0.10925844926984085,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03455374389886856,
|
| 129 |
+
"ssim_fused": 0.8921679258346558,
|
| 130 |
+
"seg_l1": 0.04808727651834488,
|
| 131 |
+
"seg_ssim_ref": 0.8921667337417603,
|
| 132 |
+
"depth": 0.012551067779191299,
|
| 133 |
+
"rgb_loss": 0.049209415912628174,
|
| 134 |
+
"seg_loss": 0.06003648042678833,
|
| 135 |
+
"total": 0.10925844926984085
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.052136264741420746,
|
| 141 |
+
"ssim_fused": 0.8749071955680847,
|
| 142 |
+
"seg_l1": 0.06287527084350586,
|
| 143 |
+
"seg_ssim_ref": 0.8749067783355713,
|
| 144 |
+
"depth": 0.01977169090308365,
|
| 145 |
+
"rgb_loss": 0.06672757863998413,
|
| 146 |
+
"seg_loss": 0.07531886547803879,
|
| 147 |
+
"total": 0.1420662232595066,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01977169090308365,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.0142814673787781
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03959016129374504,
|
| 174 |
+
"ssim_fused": 0.8753159046173096,
|
| 175 |
+
"seg_l1": 0.06477925926446915,
|
| 176 |
+
"seg_ssim_ref": 0.8753144145011902,
|
| 177 |
+
"depth": 0.014514533826008492,
|
| 178 |
+
"rgb_loss": 0.05660895258188248,
|
| 179 |
+
"seg_loss": 0.07676052302122116,
|
| 180 |
+
"total": 0.13338399013692964,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014514533826008492,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011420264077744602
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.026226552203297615,
|
| 207 |
+
"ssim_fused": 0.9074422121047974,
|
| 208 |
+
"seg_l1": 0.038874514400959015,
|
| 209 |
+
"seg_ssim_ref": 0.9074408411979675,
|
| 210 |
+
"depth": 0.010237810436198747,
|
| 211 |
+
"rgb_loss": 0.03949280083179474,
|
| 212 |
+
"seg_loss": 0.04961144179105759,
|
| 213 |
+
"total": 0.08911448043328853,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010237810436198747,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00894979611328208
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.020261995494365692,
|
| 240 |
+
"ssim_fused": 0.9110063910484314,
|
| 241 |
+
"seg_l1": 0.025820080190896988,
|
| 242 |
+
"seg_ssim_ref": 0.9110047817230225,
|
| 243 |
+
"depth": 0.0056802359514743,
|
| 244 |
+
"rgb_loss": 0.034008316695690155,
|
| 245 |
+
"seg_loss": 0.03845510631799698,
|
| 246 |
+
"total": 0.07246910324963861,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0056802359514743,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005680235951474299
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 382,
|
| 281 |
+
"adam_update_count": 64176
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23937566298991442
|
| 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_ed9959693410446bab5eae17707c3149_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 383,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64177,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 382,
|
| 300 |
+
"trained_intervals": 64176,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64176,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.300919055938721,
|
| 333 |
+
"median": 11.139591217041016,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.7576364278793335,
|
| 354 |
+
"median": 9.170352935791016,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.000674918235745281,
|
| 361 |
+
"median": 68843.5078125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.17245198786258698,
|
| 382 |
+
"median": 9752.4892578125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24719,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0383.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_0383",
|
| 5 |
+
"executed_epochs": 383,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_6f8a30c66d784ec190524cd542290a67.npz",
|
| 37 |
+
"optimizer_file": "boundary_6f8a30c66d784ec190524cd542290a67_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "8ffe143252089fd24dfa7311a699f284ef87d691cb937ba9b3c42fc71d9a5b9f",
|
| 39 |
+
"optimizer_sha256": "64e71f10dbd9e02f00c214c02aed51fd8f30778b01116dd87fb1fd4a689b7cf8",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 383,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64344,
|
| 45 |
+
"adam_update_count": 64344,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 384,
|
| 49 |
+
"consumed_count": 383,
|
| 50 |
+
"last_submitted_update": 64344,
|
| 51 |
+
"last_consumed_update": 64176,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64344,
|
| 56 |
+
"completed_passes": 383,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64344,
|
| 59 |
+
"snapshot": "pass_end_0383",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 383,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64344,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64344,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016220453835558146,
|
| 83 |
+
"update_l2": 0.06226750835776329
|
| 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": 2.5684288630145602e-05,
|
| 95 |
+
"update_l2": 0.0031839858274906874
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1066403434159493,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24731,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1066403434159493,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03375595062971115,
|
| 129 |
+
"ssim_fused": 0.8938687443733215,
|
| 130 |
+
"seg_l1": 0.046463001519441605,
|
| 131 |
+
"seg_ssim_ref": 0.8938673138618469,
|
| 132 |
+
"depth": 0.012392971131754006,
|
| 133 |
+
"rgb_loss": 0.04823102056980133,
|
| 134 |
+
"seg_loss": 0.05839693546295166,
|
| 135 |
+
"total": 0.1066403434159493
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05193942412734032,
|
| 141 |
+
"ssim_fused": 0.8748785853385925,
|
| 142 |
+
"seg_l1": 0.06184149533510208,
|
| 143 |
+
"seg_ssim_ref": 0.8748777508735657,
|
| 144 |
+
"depth": 0.019413858429206694,
|
| 145 |
+
"rgb_loss": 0.06657582521438599,
|
| 146 |
+
"seg_loss": 0.07449764758348465,
|
| 147 |
+
"total": 0.14109287920571925,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019413858429206694,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013923634904901136
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03849535435438156,
|
| 174 |
+
"ssim_fused": 0.8775783181190491,
|
| 175 |
+
"seg_l1": 0.06262427568435669,
|
| 176 |
+
"seg_ssim_ref": 0.8775766491889954,
|
| 177 |
+
"depth": 0.014524988154849401,
|
| 178 |
+
"rgb_loss": 0.055280618369579315,
|
| 179 |
+
"seg_loss": 0.07458408921957016,
|
| 180 |
+
"total": 0.12987923257730433,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014524988154849401,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01143071840658551
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025325322523713112,
|
| 207 |
+
"ssim_fused": 0.9090348482131958,
|
| 208 |
+
"seg_l1": 0.03726004809141159,
|
| 209 |
+
"seg_ssim_ref": 0.909033477306366,
|
| 210 |
+
"depth": 0.010086326294334138,
|
| 211 |
+
"rgb_loss": 0.03845328837633133,
|
| 212 |
+
"seg_loss": 0.04800134152173996,
|
| 213 |
+
"total": 0.08646471622436562,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010086326294334138,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008798311971417474
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01926371455192566,
|
| 240 |
+
"ssim_fused": 0.9139831066131592,
|
| 241 |
+
"seg_l1": 0.02412618324160576,
|
| 242 |
+
"seg_ssim_ref": 0.9139814972877502,
|
| 243 |
+
"depth": 0.005546711648625787,
|
| 244 |
+
"rgb_loss": 0.03261435031890869,
|
| 245 |
+
"seg_loss": 0.03650464862585068,
|
| 246 |
+
"total": 0.06912454565640799,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005546711648625787,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005546711648625787
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 383,
|
| 281 |
+
"adam_update_count": 64344
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24087423598393798
|
| 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_6f8a30c66d784ec190524cd542290a67_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 384,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64345,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 383,
|
| 300 |
+
"trained_intervals": 64344,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64344,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.3060784339904785,
|
| 333 |
+
"median": 11.149815559387207,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.772629976272583,
|
| 354 |
+
"median": 9.172832489013672,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006714449846185744,
|
| 361 |
+
"median": 69551.0,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.16988560557365417,
|
| 382 |
+
"median": 9788.8046875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24731,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0384.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_0384",
|
| 5 |
+
"executed_epochs": 384,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_c4edf41c473d4fd28ec001e8b0188aef.npz",
|
| 37 |
+
"optimizer_file": "boundary_c4edf41c473d4fd28ec001e8b0188aef_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "74c564693029d442ba73b65f63ff5edae64b2ebaa733d475845bab5910e61255",
|
| 39 |
+
"optimizer_sha256": "80c5e8c359a74611b535796c429ecbea5bcdf07a86d5af0605a5025372605ebe",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 384,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64512,
|
| 45 |
+
"adam_update_count": 64512,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 385,
|
| 49 |
+
"consumed_count": 384,
|
| 50 |
+
"last_submitted_update": 64512,
|
| 51 |
+
"last_consumed_update": 64344,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64512,
|
| 56 |
+
"completed_passes": 384,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64512,
|
| 59 |
+
"snapshot": "pass_end_0384",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 384,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64512,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64512,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00019333492673467845,
|
| 83 |
+
"update_l2": 0.060614485293626785
|
| 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": 2.5274455765611492e-05,
|
| 95 |
+
"update_l2": 0.0034170763101428747
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10660982717758641,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24742,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10660982717758641,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03375513106584549,
|
| 129 |
+
"ssim_fused": 0.8939324617385864,
|
| 130 |
+
"seg_l1": 0.04645761102437973,
|
| 131 |
+
"seg_ssim_ref": 0.8939312100410461,
|
| 132 |
+
"depth": 0.012375684442366894,
|
| 133 |
+
"rgb_loss": 0.04821760952472687,
|
| 134 |
+
"seg_loss": 0.05837984383106232,
|
| 135 |
+
"total": 0.10660982717758641
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05194014310836792,
|
| 141 |
+
"ssim_fused": 0.8748829960823059,
|
| 142 |
+
"seg_l1": 0.061864208430051804,
|
| 143 |
+
"seg_ssim_ref": 0.8748824596405029,
|
| 144 |
+
"depth": 0.019459875619067264,
|
| 145 |
+
"rgb_loss": 0.06657551229000092,
|
| 146 |
+
"seg_loss": 0.07451488077640533,
|
| 147 |
+
"total": 0.14110985294202533,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019459875619067264,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013969652094761713
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03848501294851303,
|
| 174 |
+
"ssim_fused": 0.8775150179862976,
|
| 175 |
+
"seg_l1": 0.06262856721878052,
|
| 176 |
+
"seg_ssim_ref": 0.8775134086608887,
|
| 177 |
+
"depth": 0.014453947406910464,
|
| 178 |
+
"rgb_loss": 0.0552850067615509,
|
| 179 |
+
"seg_loss": 0.07460017502307892,
|
| 180 |
+
"total": 0.12989963573203672,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014453947406910464,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011359677658646575
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02533815987408161,
|
| 207 |
+
"ssim_fused": 0.9092218279838562,
|
| 208 |
+
"seg_l1": 0.037271950393915176,
|
| 209 |
+
"seg_ssim_ref": 0.9092205762863159,
|
| 210 |
+
"depth": 0.010041104026619707,
|
| 211 |
+
"rgb_loss": 0.03842616081237793,
|
| 212 |
+
"seg_loss": 0.04797344654798508,
|
| 213 |
+
"total": 0.08640964846438963,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010041104026619707,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00875308970370304
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019257208332419395,
|
| 240 |
+
"ssim_fused": 0.9141100645065308,
|
| 241 |
+
"seg_l1": 0.024065721780061722,
|
| 242 |
+
"seg_ssim_ref": 0.9141085147857666,
|
| 243 |
+
"depth": 0.005547810716870138,
|
| 244 |
+
"rgb_loss": 0.032583754509687424,
|
| 245 |
+
"seg_loss": 0.03643087297677994,
|
| 246 |
+
"total": 0.06902017157189393,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005547810716870138,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005547810716870137
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 384,
|
| 281 |
+
"adam_update_count": 64512
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24237894802354276
|
| 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_c4edf41c473d4fd28ec001e8b0188aef_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 385,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64513,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 384,
|
| 300 |
+
"trained_intervals": 64512,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64512,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.306870937347412,
|
| 333 |
+
"median": 11.159204483032227,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.7872523069381714,
|
| 354 |
+
"median": 9.169658660888672,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006709130830131471,
|
| 361 |
+
"median": 70207.078125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.16741955280303955,
|
| 382 |
+
"median": 9764.41796875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24742,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0385.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_0385",
|
| 5 |
+
"executed_epochs": 385,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_8e70cd7d2ba94fabb4f79546310a18b7.npz",
|
| 37 |
+
"optimizer_file": "boundary_8e70cd7d2ba94fabb4f79546310a18b7_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "3891aa933e4b8b75d94b6402ba39a51b303f3c93b109969b7af8a5d594095e01",
|
| 39 |
+
"optimizer_sha256": "46050766940f1478c291755a34aaccc680bd4224cfb7ca4331728a65d88ad6c7",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 385,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64680,
|
| 45 |
+
"adam_update_count": 64680,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 386,
|
| 49 |
+
"consumed_count": 385,
|
| 50 |
+
"last_submitted_update": 64680,
|
| 51 |
+
"last_consumed_update": 64512,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64680,
|
| 56 |
+
"completed_passes": 385,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64680,
|
| 59 |
+
"snapshot": "pass_end_0385",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 385,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64680,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64680,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016945209063123912,
|
| 83 |
+
"update_l2": 0.06068184971809387
|
| 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": 3.171973366988823e-05,
|
| 95 |
+
"update_l2": 0.0033152138348668814
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1064497381218231,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24751,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1064497381218231,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033661141991615295,
|
| 129 |
+
"ssim_fused": 0.893886923789978,
|
| 130 |
+
"seg_l1": 0.04632874205708504,
|
| 131 |
+
"seg_ssim_ref": 0.8938856720924377,
|
| 132 |
+
"depth": 0.012354902223370672,
|
| 133 |
+
"rgb_loss": 0.04815152287483215,
|
| 134 |
+
"seg_loss": 0.05828585848212242,
|
| 135 |
+
"total": 0.1064497381218231
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05170990154147148,
|
| 141 |
+
"ssim_fused": 0.8751124143600464,
|
| 142 |
+
"seg_l1": 0.06165368854999542,
|
| 143 |
+
"seg_ssim_ref": 0.8751118779182434,
|
| 144 |
+
"depth": 0.01940224509553311,
|
| 145 |
+
"rgb_loss": 0.06634543836116791,
|
| 146 |
+
"seg_loss": 0.07430057227611542,
|
| 147 |
+
"total": 0.14066541288237885,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01940224509553311,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013912021571227557
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038317833095788956,
|
| 174 |
+
"ssim_fused": 0.8776710033416748,
|
| 175 |
+
"seg_l1": 0.06243147701025009,
|
| 176 |
+
"seg_ssim_ref": 0.8776693344116211,
|
| 177 |
+
"depth": 0.0143651042154703,
|
| 178 |
+
"rgb_loss": 0.055120065808296204,
|
| 179 |
+
"seg_loss": 0.0744113177061081,
|
| 180 |
+
"total": 0.12954574861861975,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.0143651042154703,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011270834467206411
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02539857104420662,
|
| 207 |
+
"ssim_fused": 0.9087158441543579,
|
| 208 |
+
"seg_l1": 0.03728944808244705,
|
| 209 |
+
"seg_ssim_ref": 0.9087145328521729,
|
| 210 |
+
"depth": 0.010105471316926283,
|
| 211 |
+
"rgb_loss": 0.038575686514377594,
|
| 212 |
+
"seg_loss": 0.04808865487575531,
|
| 213 |
+
"total": 0.08667444686144983,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010105471316926283,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008817456994009617
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019218258559703827,
|
| 240 |
+
"ssim_fused": 0.9140484929084778,
|
| 241 |
+
"seg_l1": 0.023940352723002434,
|
| 242 |
+
"seg_ssim_ref": 0.9140469431877136,
|
| 243 |
+
"depth": 0.005546788265552992,
|
| 244 |
+
"rgb_loss": 0.032564908266067505,
|
| 245 |
+
"seg_loss": 0.03634289279580116,
|
| 246 |
+
"total": 0.06891334412484393,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005546788265552992,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005546788265552992
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 385,
|
| 281 |
+
"adam_update_count": 64680
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23881085799075663
|
| 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_8e70cd7d2ba94fabb4f79546310a18b7_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 386,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64681,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 385,
|
| 300 |
+
"trained_intervals": 64680,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64680,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.307387351989746,
|
| 333 |
+
"median": 11.174219131469727,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.803331971168518,
|
| 354 |
+
"median": 9.168268203735352,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006705666892230511,
|
| 361 |
+
"median": 71269.171875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.16474904119968414,
|
| 382 |
+
"median": 9758.5029296875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24752,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0386.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_0386",
|
| 5 |
+
"executed_epochs": 386,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_56b95ba4e48b454dbe384b80dda04925.npz",
|
| 37 |
+
"optimizer_file": "boundary_56b95ba4e48b454dbe384b80dda04925_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "bd925ed722d01312f6ad15b8d2a03edd915c62f1441044251cb22c4e18fa70e4",
|
| 39 |
+
"optimizer_sha256": "b0547076f0463be28c517f924699ab27f7068bbba49648cbb01c81ac3f8bde0b",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 386,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 64848,
|
| 45 |
+
"adam_update_count": 64848,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 387,
|
| 49 |
+
"consumed_count": 386,
|
| 50 |
+
"last_submitted_update": 64848,
|
| 51 |
+
"last_consumed_update": 64680,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 64848,
|
| 56 |
+
"completed_passes": 386,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 64848,
|
| 59 |
+
"snapshot": "pass_end_0386",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 386,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 64848,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 64848,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00015917541168164462,
|
| 83 |
+
"update_l2": 0.051999662071466446
|
| 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": 2.6030025765066966e-05,
|
| 95 |
+
"update_l2": 0.002599302213639021
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10645115501471104,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24761,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10645115501471104,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033729180693626404,
|
| 129 |
+
"ssim_fused": 0.8941805362701416,
|
| 130 |
+
"seg_l1": 0.04640927538275719,
|
| 131 |
+
"seg_ssim_ref": 0.8941793441772461,
|
| 132 |
+
"depth": 0.012367360668783786,
|
| 133 |
+
"rgb_loss": 0.048147235065698624,
|
| 134 |
+
"seg_loss": 0.05829155072569847,
|
| 135 |
+
"total": 0.10645115501471104
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05196845158934593,
|
| 141 |
+
"ssim_fused": 0.8749886155128479,
|
| 142 |
+
"seg_l1": 0.061915699392557144,
|
| 143 |
+
"seg_ssim_ref": 0.8749880790710449,
|
| 144 |
+
"depth": 0.019433144552511834,
|
| 145 |
+
"rgb_loss": 0.06657703965902328,
|
| 146 |
+
"seg_loss": 0.07453494518995285,
|
| 147 |
+
"total": 0.14113141799352866,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019433144552511834,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01394292102820628
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038488756865262985,
|
| 174 |
+
"ssim_fused": 0.8776689171791077,
|
| 175 |
+
"seg_l1": 0.06259260326623917,
|
| 176 |
+
"seg_ssim_ref": 0.8776674866676331,
|
| 177 |
+
"depth": 0.01450199331509001,
|
| 178 |
+
"rgb_loss": 0.055257223546504974,
|
| 179 |
+
"seg_loss": 0.07454058527946472,
|
| 180 |
+
"total": 0.1298123182698654,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01450199331509001,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011407723566826122
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025196623057127,
|
| 207 |
+
"ssim_fused": 0.9098640084266663,
|
| 208 |
+
"seg_l1": 0.037047501653432846,
|
| 209 |
+
"seg_ssim_ref": 0.909862756729126,
|
| 210 |
+
"depth": 0.009988697546404112,
|
| 211 |
+
"rgb_loss": 0.03818449750542641,
|
| 212 |
+
"seg_loss": 0.04766545072197914,
|
| 213 |
+
"total": 0.08585993692495195,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009988697546404112,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008700683223487446
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01926288940012455,
|
| 240 |
+
"ssim_fused": 0.9142006635665894,
|
| 241 |
+
"seg_l1": 0.024081287905573845,
|
| 242 |
+
"seg_ssim_ref": 0.9141990542411804,
|
| 243 |
+
"depth": 0.00554560726112919,
|
| 244 |
+
"rgb_loss": 0.03257017955183983,
|
| 245 |
+
"seg_loss": 0.03642522171139717,
|
| 246 |
+
"total": 0.06900094687049813,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.00554560726112919,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.00554560726112919
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 386,
|
| 281 |
+
"adam_update_count": 64848
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23981437692418694
|
| 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_56b95ba4e48b454dbe384b80dda04925_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 387,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 64849,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 386,
|
| 300 |
+
"trained_intervals": 64848,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 64848,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.312001705169678,
|
| 333 |
+
"median": 11.177924156188965,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.8179069757461548,
|
| 354 |
+
"median": 9.170988082885742,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006674795877188444,
|
| 361 |
+
"median": 71533.71875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.16236522793769836,
|
| 382 |
+
"median": 9789.1240234375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24761,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0387.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_0387",
|
| 5 |
+
"executed_epochs": 387,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_17338dcad1714863bdad6268d0de05ac.npz",
|
| 37 |
+
"optimizer_file": "boundary_17338dcad1714863bdad6268d0de05ac_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "fe7be16f5f8f0f58eb0bb3f115f8e9dc1e66d707af741c7903fc5eb258d14da6",
|
| 39 |
+
"optimizer_sha256": "03b5c4c87e5e9dbf30b32f2f4b8a617570626ab8b7dcb04ad9311b600aa12c4c",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 387,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65016,
|
| 45 |
+
"adam_update_count": 65016,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 388,
|
| 49 |
+
"consumed_count": 387,
|
| 50 |
+
"last_submitted_update": 65016,
|
| 51 |
+
"last_consumed_update": 64848,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65016,
|
| 56 |
+
"completed_passes": 387,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65016,
|
| 59 |
+
"snapshot": "pass_end_0387",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 387,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65016,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65016,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0002847293799277395,
|
| 83 |
+
"update_l2": 0.0596592016518116
|
| 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": 2.2323025405057706e-05,
|
| 95 |
+
"update_l2": 0.0029913203325122595
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10770879710993492,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24771,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10770879710993492,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03407184034585953,
|
| 129 |
+
"ssim_fused": 0.8931052684783936,
|
| 130 |
+
"seg_l1": 0.04710104689002037,
|
| 131 |
+
"seg_ssim_ref": 0.893104076385498,
|
| 132 |
+
"depth": 0.012358901712518324,
|
| 133 |
+
"rgb_loss": 0.04863642156124115,
|
| 134 |
+
"seg_loss": 0.05906002223491669,
|
| 135 |
+
"total": 0.10770879710993492
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051960188895463943,
|
| 141 |
+
"ssim_fused": 0.8749368786811829,
|
| 142 |
+
"seg_l1": 0.06222972646355629,
|
| 143 |
+
"seg_ssim_ref": 0.8749363422393799,
|
| 144 |
+
"depth": 0.019550795169848718,
|
| 145 |
+
"rgb_loss": 0.06658077985048294,
|
| 146 |
+
"seg_loss": 0.07479651272296906,
|
| 147 |
+
"total": 0.14139685081920245,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019550795169848718,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01406057164554316
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038892872631549835,
|
| 174 |
+
"ssim_fused": 0.876437246799469,
|
| 175 |
+
"seg_l1": 0.06344760954380035,
|
| 176 |
+
"seg_ssim_ref": 0.8764358162879944,
|
| 177 |
+
"depth": 0.014382169536129676,
|
| 178 |
+
"rgb_loss": 0.05582685023546219,
|
| 179 |
+
"seg_loss": 0.0754709243774414,
|
| 180 |
+
"total": 0.13131214933185914,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014382169536129676,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011287899787865787
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025765029713511467,
|
| 207 |
+
"ssim_fused": 0.9086078405380249,
|
| 208 |
+
"seg_l1": 0.03801131993532181,
|
| 209 |
+
"seg_ssim_ref": 0.9086065888404846,
|
| 210 |
+
"depth": 0.010043627560907563,
|
| 211 |
+
"rgb_loss": 0.03889045864343643,
|
| 212 |
+
"seg_loss": 0.04868774116039276,
|
| 213 |
+
"total": 0.0875882434313901,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010043627560907563,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008755613237990895
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019669272005558014,
|
| 240 |
+
"ssim_fused": 0.9124391674995422,
|
| 241 |
+
"seg_l1": 0.02471553161740303,
|
| 242 |
+
"seg_ssim_ref": 0.9124376177787781,
|
| 243 |
+
"depth": 0.005459014583187333,
|
| 244 |
+
"rgb_loss": 0.033247582614421844,
|
| 245 |
+
"seg_loss": 0.03728490322828293,
|
| 246 |
+
"total": 0.07053794485728795,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005459014583187333,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005459014583187333
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 387,
|
| 281 |
+
"adam_update_count": 65016
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.25253037898801267
|
| 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_17338dcad1714863bdad6268d0de05ac_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 388,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65017,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 387,
|
| 300 |
+
"trained_intervals": 65016,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65016,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.313730716705322,
|
| 333 |
+
"median": 11.19044303894043,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.8342477083206177,
|
| 354 |
+
"median": 9.177095413208008,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006663265521638095,
|
| 361 |
+
"median": 72434.8671875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1597336232662201,
|
| 382 |
+
"median": 9855.212890625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24771,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0388.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_0388",
|
| 5 |
+
"executed_epochs": 388,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_9c099bbbf3594fb880cc305e1625b678.npz",
|
| 37 |
+
"optimizer_file": "boundary_9c099bbbf3594fb880cc305e1625b678_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "075a8375e430d587fbe1815cd968d89e6055c4e0c4cf578666f14e03181ddcb5",
|
| 39 |
+
"optimizer_sha256": "5915b7b86806887363c67f6ffad5339186d1a8b6a1888f1fe010d33fa755f9c4",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 388,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65184,
|
| 45 |
+
"adam_update_count": 65184,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 389,
|
| 49 |
+
"consumed_count": 388,
|
| 50 |
+
"last_submitted_update": 65184,
|
| 51 |
+
"last_consumed_update": 65016,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65184,
|
| 56 |
+
"completed_passes": 388,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65184,
|
| 59 |
+
"snapshot": "pass_end_0388",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 388,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65184,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65184,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00015771655307617038,
|
| 83 |
+
"update_l2": 0.04986310005187988
|
| 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": 2.3302847694139928e-05,
|
| 95 |
+
"update_l2": 0.0029402528889477253
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10626724838621246,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24783,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 118 |
+
"ground_restitution/clamp_changed": 1,
|
| 119 |
+
"ground_friction/contact_active": 1,
|
| 120 |
+
"ground_restitution/contact_active": 1
|
| 121 |
+
},
|
| 122 |
+
"photometric_transition": {
|
| 123 |
+
"transition_index": 167,
|
| 124 |
+
"loss": 0.10626724838621246,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03361566364765167,
|
| 129 |
+
"ssim_fused": 0.8939957022666931,
|
| 130 |
+
"seg_l1": 0.04620055854320526,
|
| 131 |
+
"seg_ssim_ref": 0.8939943909645081,
|
| 132 |
+
"depth": 0.012283319302668353,
|
| 133 |
+
"rgb_loss": 0.048093393445014954,
|
| 134 |
+
"seg_loss": 0.058161575347185135,
|
| 135 |
+
"total": 0.10626724838621246
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051772233098745346,
|
| 141 |
+
"ssim_fused": 0.874923050403595,
|
| 142 |
+
"seg_l1": 0.061673521995544434,
|
| 143 |
+
"seg_ssim_ref": 0.8749222159385681,
|
| 144 |
+
"depth": 0.019397226546366646,
|
| 145 |
+
"rgb_loss": 0.06643317639827728,
|
| 146 |
+
"seg_loss": 0.0743543729186058,
|
| 147 |
+
"total": 0.14080693909284886,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019397226546366646,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013907003022061092
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03844652697443962,
|
| 174 |
+
"ssim_fused": 0.8771945238113403,
|
| 175 |
+
"seg_l1": 0.0625537559390068,
|
| 176 |
+
"seg_ssim_ref": 0.8771929144859314,
|
| 177 |
+
"depth": 0.014340678716796553,
|
| 178 |
+
"rgb_loss": 0.05531831830739975,
|
| 179 |
+
"seg_loss": 0.07460442185401917,
|
| 180 |
+
"total": 0.12993708829071632,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014340678716796553,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011246408968532665
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025181302800774574,
|
| 207 |
+
"ssim_fused": 0.9096238613128662,
|
| 208 |
+
"seg_l1": 0.036955561488866806,
|
| 209 |
+
"seg_ssim_ref": 0.9096225500106812,
|
| 210 |
+
"depth": 0.00996738974155289,
|
| 211 |
+
"rgb_loss": 0.03822027146816254,
|
| 212 |
+
"seg_loss": 0.047639939934015274,
|
| 213 |
+
"total": 0.08587017506662907,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00996738974155289,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008679375418636223
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019062595441937447,
|
| 240 |
+
"ssim_fused": 0.914241373538971,
|
| 241 |
+
"seg_l1": 0.023619405925273895,
|
| 242 |
+
"seg_ssim_ref": 0.9142398238182068,
|
| 243 |
+
"depth": 0.005427982205957329,
|
| 244 |
+
"rgb_loss": 0.03240180388092995,
|
| 245 |
+
"seg_loss": 0.03604756295681,
|
| 246 |
+
"total": 0.0684547910946556,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005427982205957329,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005427982205957329
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 388,
|
| 281 |
+
"adam_update_count": 65184
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23614430311135948
|
| 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_9c099bbbf3594fb880cc305e1625b678_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 389,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65185,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 388,
|
| 300 |
+
"trained_intervals": 65184,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65184,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.314846038818359,
|
| 333 |
+
"median": 11.199848175048828,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.8495867252349854,
|
| 354 |
+
"median": 9.167856216430664,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006655838224105537,
|
| 361 |
+
"median": 73119.3359375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1573021560907364,
|
| 382 |
+
"median": 9776.03125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24783,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0389.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_0389",
|
| 5 |
+
"executed_epochs": 389,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_80dc8ad7b85c44ef95ca637465461773.npz",
|
| 37 |
+
"optimizer_file": "boundary_80dc8ad7b85c44ef95ca637465461773_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "76ef47205167bb1e35943c6f84f919669dd5d18d8f0a7444597aaa9cb2831e20",
|
| 39 |
+
"optimizer_sha256": "fafd0096a84b5ec1984788917097635a1bad38215487b3ffd8177f830dc5ac5a",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 389,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65352,
|
| 45 |
+
"adam_update_count": 65352,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 390,
|
| 49 |
+
"consumed_count": 389,
|
| 50 |
+
"last_submitted_update": 65352,
|
| 51 |
+
"last_consumed_update": 65184,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65352,
|
| 56 |
+
"completed_passes": 389,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65352,
|
| 59 |
+
"snapshot": "pass_end_0389",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 389,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65352,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65352,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001783625193638727,
|
| 83 |
+
"update_l2": 0.07003280520439148
|
| 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": 2.6737283405964263e-05,
|
| 95 |
+
"update_l2": 0.003269868902862072
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10817265719544106,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24789,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10817265719544106,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03422483801841736,
|
| 129 |
+
"ssim_fused": 0.8929170370101929,
|
| 130 |
+
"seg_l1": 0.047433383762836456,
|
| 131 |
+
"seg_ssim_ref": 0.8929157853126526,
|
| 132 |
+
"depth": 0.01264199983292269,
|
| 133 |
+
"rgb_loss": 0.04879647493362427,
|
| 134 |
+
"seg_loss": 0.05936354398727417,
|
| 135 |
+
"total": 0.10817265719544106
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05240042135119438,
|
| 141 |
+
"ssim_fused": 0.8742618560791016,
|
| 142 |
+
"seg_l1": 0.06306928396224976,
|
| 143 |
+
"seg_ssim_ref": 0.8742614388465881,
|
| 144 |
+
"depth": 0.019861193241211456,
|
| 145 |
+
"rgb_loss": 0.06706796586513519,
|
| 146 |
+
"seg_loss": 0.07560314238071442,
|
| 147 |
+
"total": 0.14269096943909082,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019861193241211456,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.014370969716905902
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03908727690577507,
|
| 174 |
+
"ssim_fused": 0.8765997290611267,
|
| 175 |
+
"seg_l1": 0.06375601142644882,
|
| 176 |
+
"seg_ssim_ref": 0.8765982985496521,
|
| 177 |
+
"depth": 0.014686483941878608,
|
| 178 |
+
"rgb_loss": 0.055949874222278595,
|
| 179 |
+
"seg_loss": 0.07568515092134476,
|
| 180 |
+
"total": 0.13164971162756522,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014686483941878608,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011592214193614718
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02596561796963215,
|
| 207 |
+
"ssim_fused": 0.9071978330612183,
|
| 208 |
+
"seg_l1": 0.03845847398042679,
|
| 209 |
+
"seg_ssim_ref": 0.9071966409683228,
|
| 210 |
+
"depth": 0.010404424294346631,
|
| 211 |
+
"rgb_loss": 0.03933292627334595,
|
| 212 |
+
"seg_loss": 0.04932745173573494,
|
| 213 |
+
"total": 0.08867077870808493,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010404424294346631,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.009116409971429965
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019446032121777534,
|
| 240 |
+
"ssim_fused": 0.9136084914207458,
|
| 241 |
+
"seg_l1": 0.024449771270155907,
|
| 242 |
+
"seg_ssim_ref": 0.9136069416999817,
|
| 243 |
+
"depth": 0.005615897854254063,
|
| 244 |
+
"rgb_loss": 0.03283512964844704,
|
| 245 |
+
"seg_loss": 0.03683842718601227,
|
| 246 |
+
"total": 0.06967916900702326,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005615897854254063,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005615897854254063
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 389,
|
| 281 |
+
"adam_update_count": 65352
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23836523294448853
|
| 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_80dc8ad7b85c44ef95ca637465461773_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 390,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65353,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 389,
|
| 300 |
+
"trained_intervals": 65352,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65352,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.317979335784912,
|
| 333 |
+
"median": 11.20156192779541,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.864678978919983,
|
| 354 |
+
"median": 9.177358627319336,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006635015597566962,
|
| 361 |
+
"median": 73244.7578125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1549459546804428,
|
| 382 |
+
"median": 9862.3818359375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24789,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0390.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_0390",
|
| 5 |
+
"executed_epochs": 390,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_641b7a6368a243e1b3f08fa3e2c3845a.npz",
|
| 37 |
+
"optimizer_file": "boundary_641b7a6368a243e1b3f08fa3e2c3845a_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "8f651c1653a920465454c347567225b8b461e83f59a15ece9774bdd6acf470d4",
|
| 39 |
+
"optimizer_sha256": "f8bfec68c2ee7535a88c078abbaaf8cbbd669f17201015076d53461357975aac",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 390,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65520,
|
| 45 |
+
"adam_update_count": 65520,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 391,
|
| 49 |
+
"consumed_count": 390,
|
| 50 |
+
"last_submitted_update": 65520,
|
| 51 |
+
"last_consumed_update": 65352,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65520,
|
| 56 |
+
"completed_passes": 390,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65520,
|
| 59 |
+
"snapshot": "pass_end_0390",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 390,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65520,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65520,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00014998637198004872,
|
| 83 |
+
"update_l2": 0.0524153858423233
|
| 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": 2.7786400096374564e-05,
|
| 95 |
+
"update_l2": 0.0026137426029890776
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10598228988373101,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24798,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10598228988373101,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03352222219109535,
|
| 129 |
+
"ssim_fused": 0.8942394256591797,
|
| 130 |
+
"seg_l1": 0.046059705317020416,
|
| 131 |
+
"seg_ssim_ref": 0.8942382335662842,
|
| 132 |
+
"depth": 0.01227972233116038,
|
| 133 |
+
"rgb_loss": 0.047969892621040344,
|
| 134 |
+
"seg_loss": 0.0580001175403595,
|
| 135 |
+
"total": 0.10598228988373101
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.0514349602162838,
|
| 141 |
+
"ssim_fused": 0.8755571842193604,
|
| 142 |
+
"seg_l1": 0.061120618134737015,
|
| 143 |
+
"seg_ssim_ref": 0.875556468963623,
|
| 144 |
+
"depth": 0.01929213674548315,
|
| 145 |
+
"rgb_loss": 0.06603653728961945,
|
| 146 |
+
"seg_loss": 0.073785200715065,
|
| 147 |
+
"total": 0.13984103014142993,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01929213674548315,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013801913221177594
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03823159635066986,
|
| 174 |
+
"ssim_fused": 0.8778840899467468,
|
| 175 |
+
"seg_l1": 0.06229032576084137,
|
| 176 |
+
"seg_ssim_ref": 0.8778826594352722,
|
| 177 |
+
"depth": 0.014343655126704576,
|
| 178 |
+
"rgb_loss": 0.05500845983624458,
|
| 179 |
+
"seg_loss": 0.07425573468208313,
|
| 180 |
+
"total": 0.12927853444816412,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014343655126704576,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011249385378440687
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025217439979314804,
|
| 207 |
+
"ssim_fused": 0.9094088077545166,
|
| 208 |
+
"seg_l1": 0.03693700209259987,
|
| 209 |
+
"seg_ssim_ref": 0.9094075560569763,
|
| 210 |
+
"depth": 0.009973944704198124,
|
| 211 |
+
"rgb_loss": 0.03829219192266464,
|
| 212 |
+
"seg_loss": 0.04766809195280075,
|
| 213 |
+
"total": 0.0859702578201696,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009973944704198124,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008685930381281457
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.0192048791795969,
|
| 240 |
+
"ssim_fused": 0.9141076803207397,
|
| 241 |
+
"seg_l1": 0.02389087900519371,
|
| 242 |
+
"seg_ssim_ref": 0.9141062498092651,
|
| 243 |
+
"depth": 0.0055091527482556794,
|
| 244 |
+
"rgb_loss": 0.03254237025976181,
|
| 245 |
+
"seg_loss": 0.03629145398736,
|
| 246 |
+
"total": 0.06883933712516037,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0055091527482556794,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0055091527482556794
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 390,
|
| 281 |
+
"adam_update_count": 65520
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2395028411410749
|
| 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_641b7a6368a243e1b3f08fa3e2c3845a_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 391,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65521,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 390,
|
| 300 |
+
"trained_intervals": 65520,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65520,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.319189071655273,
|
| 333 |
+
"median": 11.210222244262695,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.8790557384490967,
|
| 354 |
+
"median": 9.174036026000977,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006626993417739868,
|
| 361 |
+
"median": 73881.8359375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.15273426473140717,
|
| 382 |
+
"median": 9830.7841796875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24798,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0391.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_0391",
|
| 5 |
+
"executed_epochs": 391,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_fbef02233c8e4011a2f11c2289ea3ad9.npz",
|
| 37 |
+
"optimizer_file": "boundary_fbef02233c8e4011a2f11c2289ea3ad9_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "2fc52f54f9fd7b634667038aea6acf4144bcfc726a261e2917862f8de09312f1",
|
| 39 |
+
"optimizer_sha256": "b7adf7423fdc557c19b771f16d0597b84a13a01257fe87c12ca977efee9d0ced",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 391,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65688,
|
| 45 |
+
"adam_update_count": 65688,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 392,
|
| 49 |
+
"consumed_count": 391,
|
| 50 |
+
"last_submitted_update": 65688,
|
| 51 |
+
"last_consumed_update": 65520,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65688,
|
| 56 |
+
"completed_passes": 391,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65688,
|
| 59 |
+
"snapshot": "pass_end_0391",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 391,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65688,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65688,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0003958159650210291,
|
| 83 |
+
"update_l2": 0.061892177909612656
|
| 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": 7.171446486609057e-05,
|
| 95 |
+
"update_l2": 0.002465324243530631
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1061333708168438,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24808,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1061333708168438,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033564791083335876,
|
| 129 |
+
"ssim_fused": 0.8940378427505493,
|
| 130 |
+
"seg_l1": 0.046105269342660904,
|
| 131 |
+
"seg_ssim_ref": 0.894036591053009,
|
| 132 |
+
"depth": 0.012216314809630372,
|
| 133 |
+
"rgb_loss": 0.04804426431655884,
|
| 134 |
+
"seg_loss": 0.0580768883228302,
|
| 135 |
+
"total": 0.1061333708168438
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05113619193434715,
|
| 141 |
+
"ssim_fused": 0.876106858253479,
|
| 142 |
+
"seg_l1": 0.06052649766206741,
|
| 143 |
+
"seg_ssim_ref": 0.876106321811676,
|
| 144 |
+
"depth": 0.01901004700417126,
|
| 145 |
+
"rgb_loss": 0.06568758189678192,
|
| 146 |
+
"seg_loss": 0.07319993525743484,
|
| 147 |
+
"total": 0.13890653465180153,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01901004700417126,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013519823479865703
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038534004241228104,
|
| 174 |
+
"ssim_fused": 0.8774388432502747,
|
| 175 |
+
"seg_l1": 0.06272830069065094,
|
| 176 |
+
"seg_ssim_ref": 0.8774373531341553,
|
| 177 |
+
"depth": 0.01442457833175263,
|
| 178 |
+
"rgb_loss": 0.05533943325281143,
|
| 179 |
+
"seg_loss": 0.0746951699256897,
|
| 180 |
+
"total": 0.1300490203062523,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01442457833175263,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01133030858348874
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025190217420458794,
|
| 207 |
+
"ssim_fused": 0.9099677801132202,
|
| 208 |
+
"seg_l1": 0.03696279972791672,
|
| 209 |
+
"seg_ssim_ref": 0.9099665284156799,
|
| 210 |
+
"depth": 0.009931963605508723,
|
| 211 |
+
"rgb_loss": 0.03815861791372299,
|
| 212 |
+
"seg_loss": 0.04757693409919739,
|
| 213 |
+
"total": 0.08574548397652589,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009931963605508723,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008643949282592057
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019398747012019157,
|
| 240 |
+
"ssim_fused": 0.9126378297805786,
|
| 241 |
+
"seg_l1": 0.024203475564718246,
|
| 242 |
+
"seg_ssim_ref": 0.9126363396644592,
|
| 243 |
+
"depth": 0.005498670297088878,
|
| 244 |
+
"rgb_loss": 0.0329914316534996,
|
| 245 |
+
"seg_loss": 0.03683551400899887,
|
| 246 |
+
"total": 0.06983244433279556,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005498670297088878,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005498670297088878
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 391,
|
| 281 |
+
"adam_update_count": 65688
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23677924880757928
|
| 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_fbef02233c8e4011a2f11c2289ea3ad9_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 392,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65689,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 391,
|
| 300 |
+
"trained_intervals": 65688,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65688,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.3219895362854,
|
| 333 |
+
"median": 11.21009349822998,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.8956459760665894,
|
| 354 |
+
"median": 9.162760734558105,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006608461262658238,
|
| 361 |
+
"median": 73872.3203125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.15022127330303192,
|
| 382 |
+
"median": 9734.521484375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24808,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0392.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_0392",
|
| 5 |
+
"executed_epochs": 392,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_7adfa654e3344232938a99c8c5eecdcd.npz",
|
| 37 |
+
"optimizer_file": "boundary_7adfa654e3344232938a99c8c5eecdcd_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "aa1323385a97b0b75af58c89bad4a095689c3a5907496a95023866eb0694c466",
|
| 39 |
+
"optimizer_sha256": "4d66329f50eee78e1accfcf7dea5bb12f5f92d03d0262c6fbd6090ec817fe0b8",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 392,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 65856,
|
| 45 |
+
"adam_update_count": 65856,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 393,
|
| 49 |
+
"consumed_count": 392,
|
| 50 |
+
"last_submitted_update": 65856,
|
| 51 |
+
"last_consumed_update": 65688,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 65856,
|
| 56 |
+
"completed_passes": 392,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 65856,
|
| 59 |
+
"snapshot": "pass_end_0392",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 392,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 65856,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 65856,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001659417903283611,
|
| 83 |
+
"update_l2": 0.05387147516012192
|
| 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": 2.3376034732791595e-05,
|
| 95 |
+
"update_l2": 0.0026210059877485037
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10649727938456491,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24814,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 118 |
+
"ground_restitution/clamp_changed": 1,
|
| 119 |
+
"ground_friction/contact_active": 1,
|
| 120 |
+
"ground_restitution/contact_active": 1
|
| 121 |
+
},
|
| 122 |
+
"photometric_transition": {
|
| 123 |
+
"transition_index": 167,
|
| 124 |
+
"loss": 0.10649727938456491,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.0337047316133976,
|
| 129 |
+
"ssim_fused": 0.8939024209976196,
|
| 130 |
+
"seg_l1": 0.0463523343205452,
|
| 131 |
+
"seg_ssim_ref": 0.8939012289047241,
|
| 132 |
+
"depth": 0.012359598111660711,
|
| 133 |
+
"rgb_loss": 0.048183292150497437,
|
| 134 |
+
"seg_loss": 0.05830162391066551,
|
| 135 |
+
"total": 0.10649727938456491
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05187353119254112,
|
| 141 |
+
"ssim_fused": 0.8748723268508911,
|
| 142 |
+
"seg_l1": 0.061760228127241135,
|
| 143 |
+
"seg_ssim_ref": 0.8748717904090881,
|
| 144 |
+
"depth": 0.019434964703556094,
|
| 145 |
+
"rgb_loss": 0.06652435660362244,
|
| 146 |
+
"seg_loss": 0.0744338259100914,
|
| 147 |
+
"total": 0.14097762492899799,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019434964703556094,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013944741179250543
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03855723515152931,
|
| 174 |
+
"ssim_fused": 0.8771789073944092,
|
| 175 |
+
"seg_l1": 0.06269051879644394,
|
| 176 |
+
"seg_ssim_ref": 0.877177357673645,
|
| 177 |
+
"depth": 0.014457927802227852,
|
| 178 |
+
"rgb_loss": 0.05541000887751579,
|
| 179 |
+
"seg_loss": 0.0747169479727745,
|
| 180 |
+
"total": 0.13014141105280222,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014457927802227852,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011363658053963964
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025233572348952293,
|
| 207 |
+
"ssim_fused": 0.9095134139060974,
|
| 208 |
+
"seg_l1": 0.037106748670339584,
|
| 209 |
+
"seg_ssim_ref": 0.9095121026039124,
|
| 210 |
+
"depth": 0.010051855566070363,
|
| 211 |
+
"rgb_loss": 0.03828417509794235,
|
| 212 |
+
"seg_loss": 0.047782979905605316,
|
| 213 |
+
"total": 0.08607720685911374,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010051855566070363,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008763841243153696
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019154580309987068,
|
| 240 |
+
"ssim_fused": 0.9140451550483704,
|
| 241 |
+
"seg_l1": 0.02385183982551098,
|
| 242 |
+
"seg_ssim_ref": 0.9140436053276062,
|
| 243 |
+
"depth": 0.005493644374788532,
|
| 244 |
+
"rgb_loss": 0.03251463174819946,
|
| 245 |
+
"seg_loss": 0.03627274930477142,
|
| 246 |
+
"total": 0.06879287469734567,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005493644374788532,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005493644374788532
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 392,
|
| 281 |
+
"adam_update_count": 65856
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2605398199521005
|
| 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_7adfa654e3344232938a99c8c5eecdcd_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 393,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 65857,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 392,
|
| 300 |
+
"trained_intervals": 65856,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 65856,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.322247505187988,
|
| 333 |
+
"median": 11.22339153289795,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.9111818075180054,
|
| 354 |
+
"median": 9.159019470214844,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006606756942346692,
|
| 361 |
+
"median": 74861.2421875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.14790548384189606,
|
| 382 |
+
"median": 9699.2998046875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24814,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0393.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_0393",
|
| 5 |
+
"executed_epochs": 393,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_0b86290a538d40e3bf1d3270f16a19d7.npz",
|
| 37 |
+
"optimizer_file": "boundary_0b86290a538d40e3bf1d3270f16a19d7_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "5dc5c90d71d7bcc81009b6920523351a6e80725d3cc332806c65925ae231a0d6",
|
| 39 |
+
"optimizer_sha256": "710569a2bfd232d68ae3cb6d0d30bc554c7a9e47ec050ebd291ee850fef9e004",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 393,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66024,
|
| 45 |
+
"adam_update_count": 66024,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 394,
|
| 49 |
+
"consumed_count": 393,
|
| 50 |
+
"last_submitted_update": 66024,
|
| 51 |
+
"last_consumed_update": 65856,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66024,
|
| 56 |
+
"completed_passes": 393,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66024,
|
| 59 |
+
"snapshot": "pass_end_0393",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 393,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66024,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66024,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0009567151428200305,
|
| 83 |
+
"update_l2": 0.0560050867497921
|
| 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": 2.6690680897445418e-05,
|
| 95 |
+
"update_l2": 0.003267537336796522
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10638255315297716,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24824,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10638255315297716,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033698007464408875,
|
| 129 |
+
"ssim_fused": 0.8941125869750977,
|
| 130 |
+
"seg_l1": 0.046320728957653046,
|
| 131 |
+
"seg_ssim_ref": 0.8941113352775574,
|
| 132 |
+
"depth": 0.012351818619905355,
|
| 133 |
+
"rgb_loss": 0.04813589155673981,
|
| 134 |
+
"seg_loss": 0.058234307914972305,
|
| 135 |
+
"total": 0.10638255315297716
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05183013901114464,
|
| 141 |
+
"ssim_fused": 0.8749139308929443,
|
| 142 |
+
"seg_l1": 0.061750952154397964,
|
| 143 |
+
"seg_ssim_ref": 0.8749133944511414,
|
| 144 |
+
"depth": 0.01944159097350991,
|
| 145 |
+
"rgb_loss": 0.0664813295006752,
|
| 146 |
+
"seg_loss": 0.0744180828332901,
|
| 147 |
+
"total": 0.1409188613755194,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01944159097350991,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013951367449204359
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038410767912864685,
|
| 174 |
+
"ssim_fused": 0.8775652050971985,
|
| 175 |
+
"seg_l1": 0.0625276193022728,
|
| 176 |
+
"seg_ssim_ref": 0.8775636553764343,
|
| 177 |
+
"depth": 0.014393406562078227,
|
| 178 |
+
"rgb_loss": 0.05521557480096817,
|
| 179 |
+
"seg_loss": 0.07450936734676361,
|
| 180 |
+
"total": 0.12973934300487447,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014393406562078227,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011299136813814338
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025296499952673912,
|
| 207 |
+
"ssim_fused": 0.9095695614814758,
|
| 208 |
+
"seg_l1": 0.037058066576719284,
|
| 209 |
+
"seg_ssim_ref": 0.9095682501792908,
|
| 210 |
+
"depth": 0.010012292040813095,
|
| 211 |
+
"rgb_loss": 0.0383232906460762,
|
| 212 |
+
"seg_loss": 0.04773280397057533,
|
| 213 |
+
"total": 0.08606611063398265,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010012292040813095,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008724277717896427
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019254609942436218,
|
| 240 |
+
"ssim_fused": 0.914401650428772,
|
| 241 |
+
"seg_l1": 0.023946266621351242,
|
| 242 |
+
"seg_ssim_ref": 0.9144001603126526,
|
| 243 |
+
"depth": 0.005559984903220191,
|
| 244 |
+
"rgb_loss": 0.03252335637807846,
|
| 245 |
+
"seg_loss": 0.036276981234550476,
|
| 246 |
+
"total": 0.06880589759753215,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005559984903220191,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005559984903220191
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 393,
|
| 281 |
+
"adam_update_count": 66024
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24537714198231697
|
| 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_0b86290a538d40e3bf1d3270f16a19d7_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 394,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66025,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 393,
|
| 300 |
+
"trained_intervals": 66024,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66024,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.3280110359191895,
|
| 333 |
+
"median": 11.234105110168457,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.9257961511611938,
|
| 354 |
+
"median": 9.168100357055664,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006568788085132837,
|
| 361 |
+
"median": 75667.5859375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.14575965702533722,
|
| 382 |
+
"median": 9798.2607421875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24824,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0394.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_0394",
|
| 5 |
+
"executed_epochs": 394,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_e2cf25800580427cacf7b6a3985bbaf7.npz",
|
| 37 |
+
"optimizer_file": "boundary_e2cf25800580427cacf7b6a3985bbaf7_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "e37237527902d842f0fdce6d30fb9343968278df6ec147637a2b5b52d4168d73",
|
| 39 |
+
"optimizer_sha256": "1e9da072a626c956bf6e43ff9a006bf34a394da6366e8b260fa36291fbf28b88",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 394,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66192,
|
| 45 |
+
"adam_update_count": 66192,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 395,
|
| 49 |
+
"consumed_count": 394,
|
| 50 |
+
"last_submitted_update": 66192,
|
| 51 |
+
"last_consumed_update": 66024,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66192,
|
| 56 |
+
"completed_passes": 394,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66192,
|
| 59 |
+
"snapshot": "pass_end_0394",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 394,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66192,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66192,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00014800336793996394,
|
| 83 |
+
"update_l2": 0.0516333132982254
|
| 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": 1.647487260925118e-05,
|
| 95 |
+
"update_l2": 0.0025487046223133802
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10586567018752271,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24836,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10586567018752271,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033446792513132095,
|
| 129 |
+
"ssim_fused": 0.8941318988800049,
|
| 130 |
+
"seg_l1": 0.045935846865177155,
|
| 131 |
+
"seg_ssim_ref": 0.8941306471824646,
|
| 132 |
+
"depth": 0.012084661175559903,
|
| 133 |
+
"rgb_loss": 0.04793105274438858,
|
| 134 |
+
"seg_loss": 0.05792253836989403,
|
| 135 |
+
"total": 0.10586567018752271
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05104251950979233,
|
| 141 |
+
"ssim_fused": 0.876231849193573,
|
| 142 |
+
"seg_l1": 0.06058318540453911,
|
| 143 |
+
"seg_ssim_ref": 0.8762311935424805,
|
| 144 |
+
"depth": 0.019054739961533472,
|
| 145 |
+
"rgb_loss": 0.06558764725923538,
|
| 146 |
+
"seg_loss": 0.07322031259536743,
|
| 147 |
+
"total": 0.13882700714398374,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019054739961533472,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013564516437227917
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03829703480005264,
|
| 174 |
+
"ssim_fused": 0.8776265978813171,
|
| 175 |
+
"seg_l1": 0.06234990432858467,
|
| 176 |
+
"seg_ssim_ref": 0.877625048160553,
|
| 177 |
+
"depth": 0.014185745898850471,
|
| 178 |
+
"rgb_loss": 0.055112309753894806,
|
| 179 |
+
"seg_loss": 0.07435491681098938,
|
| 180 |
+
"total": 0.12948140486020243,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014185745898850471,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01109147615058658
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02513272315263748,
|
| 207 |
+
"ssim_fused": 0.9097251296043396,
|
| 208 |
+
"seg_l1": 0.03679201006889343,
|
| 209 |
+
"seg_ssim_ref": 0.9097238183021545,
|
| 210 |
+
"depth": 0.009717368797016485,
|
| 211 |
+
"rgb_loss": 0.038161154836416245,
|
| 212 |
+
"seg_loss": 0.04748884588479996,
|
| 213 |
+
"total": 0.08565971436472292,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009717368797016485,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008429354474099818
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019314896315336227,
|
| 240 |
+
"ssim_fused": 0.9129441380500793,
|
| 241 |
+
"seg_l1": 0.024018285796046257,
|
| 242 |
+
"seg_ssim_ref": 0.9129427075386047,
|
| 243 |
+
"depth": 0.0053807900448391835,
|
| 244 |
+
"rgb_loss": 0.03286308795213699,
|
| 245 |
+
"seg_loss": 0.03662608563899994,
|
| 246 |
+
"total": 0.06949455438118177,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0053807900448391835,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0053807900448391835
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 394,
|
| 281 |
+
"adam_update_count": 66192
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24957101792097092
|
| 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_e2cf25800580427cacf7b6a3985bbaf7_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 395,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66193,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 394,
|
| 300 |
+
"trained_intervals": 66192,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66192,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.32965612411499,
|
| 333 |
+
"median": 11.238444328308105,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.9405959844589233,
|
| 354 |
+
"median": 9.170666694641113,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006557990564033389,
|
| 361 |
+
"median": 75996.6328125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.14361834526062012,
|
| 382 |
+
"median": 9848.7802734375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24836,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0395.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_0395",
|
| 5 |
+
"executed_epochs": 395,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_304fb7434e5d470083e280df23db8561.npz",
|
| 37 |
+
"optimizer_file": "boundary_304fb7434e5d470083e280df23db8561_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "8cd2b2502e1aab3f56f73452cc927d4015b7940223d224d5a4fe3cf69a25c9dd",
|
| 39 |
+
"optimizer_sha256": "7604939097ee7aeb7caf763e8218684b77ba32ed3367bcb15aa5cab399064c29",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 395,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66360,
|
| 45 |
+
"adam_update_count": 66360,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 396,
|
| 49 |
+
"consumed_count": 395,
|
| 50 |
+
"last_submitted_update": 66360,
|
| 51 |
+
"last_consumed_update": 66192,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66360,
|
| 56 |
+
"completed_passes": 395,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66360,
|
| 59 |
+
"snapshot": "pass_end_0395",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 395,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66360,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66360,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00019553420133888721,
|
| 83 |
+
"update_l2": 0.04985916242003441
|
| 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": 2.3477550712414086e-05,
|
| 95 |
+
"update_l2": 0.002295886864885688
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10615455208234165,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24847,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10615455208234165,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03361881524324417,
|
| 129 |
+
"ssim_fused": 0.8942616581916809,
|
| 130 |
+
"seg_l1": 0.04618962109088898,
|
| 131 |
+
"seg_ssim_ref": 0.8942604064941406,
|
| 132 |
+
"depth": 0.012224892896164416,
|
| 133 |
+
"rgb_loss": 0.04804271459579468,
|
| 134 |
+
"seg_loss": 0.058099616318941116,
|
| 135 |
+
"total": 0.10615455208234165
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.0517028346657753,
|
| 141 |
+
"ssim_fused": 0.8752306699752808,
|
| 142 |
+
"seg_l1": 0.06141400709748268,
|
| 143 |
+
"seg_ssim_ref": 0.8752301335334778,
|
| 144 |
+
"depth": 0.019240193528155022,
|
| 145 |
+
"rgb_loss": 0.0663161352276802,
|
| 146 |
+
"seg_loss": 0.07408518344163895,
|
| 147 |
+
"total": 0.1404205588628473,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019240193528155022,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013749970003849464
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03857087716460228,
|
| 174 |
+
"ssim_fused": 0.8773826956748962,
|
| 175 |
+
"seg_l1": 0.06270258873701096,
|
| 176 |
+
"seg_ssim_ref": 0.8773810863494873,
|
| 177 |
+
"depth": 0.014441119114161054,
|
| 178 |
+
"rgb_loss": 0.055380165576934814,
|
| 179 |
+
"seg_loss": 0.07468585669994354,
|
| 180 |
+
"total": 0.13008046339599252,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014441119114161054,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011346849365897168
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025044821202754974,
|
| 207 |
+
"ssim_fused": 0.9103626012802124,
|
| 208 |
+
"seg_l1": 0.03677244856953621,
|
| 209 |
+
"seg_ssim_ref": 0.9103613495826721,
|
| 210 |
+
"depth": 0.009794848220576533,
|
| 211 |
+
"rgb_loss": 0.03796333819627762,
|
| 212 |
+
"seg_loss": 0.04734569042921066,
|
| 213 |
+
"total": 0.08531882347370885,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009794848220576533,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008506833897659865
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01915672793984413,
|
| 240 |
+
"ssim_fused": 0.9140708446502686,
|
| 241 |
+
"seg_l1": 0.02386944741010666,
|
| 242 |
+
"seg_ssim_ref": 0.9140691757202148,
|
| 243 |
+
"depth": 0.005423410721765056,
|
| 244 |
+
"rgb_loss": 0.032511211931705475,
|
| 245 |
+
"seg_loss": 0.03628172352910042,
|
| 246 |
+
"total": 0.06879836259681796,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005423410721765056,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005423410721765055
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 395,
|
| 281 |
+
"adam_update_count": 66360
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24223088403232396
|
| 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_304fb7434e5d470083e280df23db8561_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 396,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66361,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 395,
|
| 300 |
+
"trained_intervals": 66360,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66360,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.335249900817871,
|
| 333 |
+
"median": 11.248756408691406,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.9562727212905884,
|
| 354 |
+
"median": 9.157983779907227,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006521408795379102,
|
| 361 |
+
"median": 76784.3671875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.14138442277908325,
|
| 382 |
+
"median": 9737.1689453125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24847,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0396.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_0396",
|
| 5 |
+
"executed_epochs": 396,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.0881200069054901,
|
| 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_923378169da54e8898e86c879ff07081.npz",
|
| 37 |
+
"optimizer_file": "boundary_923378169da54e8898e86c879ff07081_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "139e6bb6e48418767a2ce779c797e2cdbe5a37b98ff9a0945b4eb065de7fd64b",
|
| 39 |
+
"optimizer_sha256": "2b2346b519b2e9edcd4a18eb9f121dc17105f7a25a66e73104bd043355293a24",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 396,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66528,
|
| 45 |
+
"adam_update_count": 66528,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 397,
|
| 49 |
+
"consumed_count": 396,
|
| 50 |
+
"last_submitted_update": 66528,
|
| 51 |
+
"last_consumed_update": 66360,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66528,
|
| 56 |
+
"completed_passes": 396,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66528,
|
| 59 |
+
"snapshot": "pass_end_0396",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 62328,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 396,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66528,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66528,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00019180467643309385,
|
| 83 |
+
"update_l2": 0.061020392924547195
|
| 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": 2.486604353180155e-05,
|
| 95 |
+
"update_l2": 0.0024864827282726765
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10666152667757009,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24863,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10666152667757009,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03369595855474472,
|
| 129 |
+
"ssim_fused": 0.8934390544891357,
|
| 130 |
+
"seg_l1": 0.046334926038980484,
|
| 131 |
+
"seg_ssim_ref": 0.8934377431869507,
|
| 132 |
+
"depth": 0.012165126762137386,
|
| 133 |
+
"rgb_loss": 0.048268966376781464,
|
| 134 |
+
"seg_loss": 0.05838039144873619,
|
| 135 |
+
"total": 0.10666152667757009
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051703162491321564,
|
| 141 |
+
"ssim_fused": 0.8750487565994263,
|
| 142 |
+
"seg_l1": 0.06183028221130371,
|
| 143 |
+
"seg_ssim_ref": 0.875048041343689,
|
| 144 |
+
"depth": 0.01937908332222452,
|
| 145 |
+
"rgb_loss": 0.06635278463363647,
|
| 146 |
+
"seg_loss": 0.07445462048053741,
|
| 147 |
+
"total": 0.1408267841974961,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01937908332222452,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013888859797918963
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03866028040647507,
|
| 174 |
+
"ssim_fused": 0.8770402669906616,
|
| 175 |
+
"seg_l1": 0.06302826851606369,
|
| 176 |
+
"seg_ssim_ref": 0.8770387768745422,
|
| 177 |
+
"depth": 0.01435028356951351,
|
| 178 |
+
"rgb_loss": 0.05552016943693161,
|
| 179 |
+
"seg_loss": 0.0750148594379425,
|
| 180 |
+
"total": 0.13054938660902424,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01435028356951351,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011256013821249623
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025079384446144104,
|
| 207 |
+
"ssim_fused": 0.9092234373092651,
|
| 208 |
+
"seg_l1": 0.036504026502370834,
|
| 209 |
+
"seg_ssim_ref": 0.9092221856117249,
|
| 210 |
+
"depth": 0.009578320348395501,
|
| 211 |
+
"rgb_loss": 0.038218818604946136,
|
| 212 |
+
"seg_loss": 0.047358784824609756,
|
| 213 |
+
"total": 0.08558718547519459,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009578320348395501,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008290306025478833
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019341006875038147,
|
| 240 |
+
"ssim_fused": 0.9124435782432556,
|
| 241 |
+
"seg_l1": 0.023977136239409447,
|
| 242 |
+
"seg_ssim_ref": 0.9124420285224915,
|
| 243 |
+
"depth": 0.005352819808416016,
|
| 244 |
+
"rgb_loss": 0.032984089106321335,
|
| 245 |
+
"seg_loss": 0.036693304777145386,
|
| 246 |
+
"total": 0.06968275042856543,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005352819808416016,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005352819808416016
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 396,
|
| 281 |
+
"adam_update_count": 66528
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24328029714524746
|
| 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_923378169da54e8898e86c879ff07081_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 397,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66529,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 396,
|
| 300 |
+
"trained_intervals": 66528,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66528,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.339542865753174,
|
| 333 |
+
"median": 11.256420135498047,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.970164179801941,
|
| 354 |
+
"median": 9.149059295654297,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006493473192676902,
|
| 361 |
+
"median": 77375.0859375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.13943395018577576,
|
| 382 |
+
"median": 9628.19140625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24864,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0397.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_0397",
|
| 5 |
+
"executed_epochs": 397,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08807026400998459,
|
| 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_61fadefddfd2452f870bfd64f0fa069f.npz",
|
| 37 |
+
"optimizer_file": "boundary_61fadefddfd2452f870bfd64f0fa069f_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "c0903c040ddb4de56138ec147c34a1268cb3b0519b856fb937b567ab089cef44",
|
| 39 |
+
"optimizer_sha256": "548a047fd35f1edfb6e393169fb29c72e7807a013375c70fcaf718e6cd948177",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 397,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66696,
|
| 45 |
+
"adam_update_count": 66696,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 398,
|
| 49 |
+
"consumed_count": 397,
|
| 50 |
+
"last_submitted_update": 66696,
|
| 51 |
+
"last_consumed_update": 66528,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66696,
|
| 56 |
+
"completed_passes": 397,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66696,
|
| 59 |
+
"snapshot": "pass_end_0397",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66528,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 397,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66696,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66696,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0005604348843917251,
|
| 83 |
+
"update_l2": 0.056108053773641586
|
| 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": 2.6529416572884656e-05,
|
| 95 |
+
"update_l2": 0.0025322274304926395
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10589669879827397,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24879,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10589669879827397,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03354669362306595,
|
| 129 |
+
"ssim_fused": 0.8944109082221985,
|
| 130 |
+
"seg_l1": 0.046014051884412766,
|
| 131 |
+
"seg_ssim_ref": 0.8944095969200134,
|
| 132 |
+
"depth": 0.012206400965612263,
|
| 133 |
+
"rgb_loss": 0.04795517772436142,
|
| 134 |
+
"seg_loss": 0.05792931467294693,
|
| 135 |
+
"total": 0.10589669879827397
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05178404226899147,
|
| 141 |
+
"ssim_fused": 0.8751358389854431,
|
| 142 |
+
"seg_l1": 0.06157344579696655,
|
| 143 |
+
"seg_ssim_ref": 0.8751351833343506,
|
| 144 |
+
"depth": 0.019316156486983458,
|
| 145 |
+
"rgb_loss": 0.06640006601810455,
|
| 146 |
+
"seg_loss": 0.07423172146081924,
|
| 147 |
+
"total": 0.14065111108599138,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019316156486983458,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013825932962677907
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.0384979173541069,
|
| 174 |
+
"ssim_fused": 0.8775540590286255,
|
| 175 |
+
"seg_l1": 0.06259125471115112,
|
| 176 |
+
"seg_ssim_ref": 0.8775525093078613,
|
| 177 |
+
"depth": 0.014385730700967317,
|
| 178 |
+
"rgb_loss": 0.055287525057792664,
|
| 179 |
+
"seg_loss": 0.07456250488758087,
|
| 180 |
+
"total": 0.1298644156760745,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014385730700967317,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011291460952703428
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.024947185069322586,
|
| 207 |
+
"ssim_fused": 0.9103109836578369,
|
| 208 |
+
"seg_l1": 0.03648483380675316,
|
| 209 |
+
"seg_ssim_ref": 0.9103096127510071,
|
| 210 |
+
"depth": 0.00971179727891874,
|
| 211 |
+
"rgb_loss": 0.037895552814006805,
|
| 212 |
+
"seg_loss": 0.04712594300508499,
|
| 213 |
+
"total": 0.08503120761637072,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00971179727891874,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008423782956002074
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.018957629799842834,
|
| 240 |
+
"ssim_fused": 0.9146427512168884,
|
| 241 |
+
"seg_l1": 0.02340666949748993,
|
| 242 |
+
"seg_ssim_ref": 0.9146412014961243,
|
| 243 |
+
"depth": 0.0054119193955795425,
|
| 244 |
+
"rgb_loss": 0.03223755210638046,
|
| 245 |
+
"seg_loss": 0.03579709678888321,
|
| 246 |
+
"total": 0.06804006081465926,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0054119193955795425,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0054119193955795425
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 397,
|
| 281 |
+
"adam_update_count": 66696
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23844607104547322
|
| 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_61fadefddfd2452f870bfd64f0fa069f_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 398,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66697,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 397,
|
| 300 |
+
"trained_intervals": 66696,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66696,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.344117641448975,
|
| 333 |
+
"median": 11.271597862243652,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -1.9844622611999512,
|
| 354 |
+
"median": 9.137212753295898,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006463834433816373,
|
| 361 |
+
"median": 78558.421875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.13745450973510742,
|
| 382 |
+
"median": 9507.130859375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24879,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0398.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_0398",
|
| 5 |
+
"executed_epochs": 398,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_e3ddef214f3f40879f60c910a546e7f8.npz",
|
| 37 |
+
"optimizer_file": "boundary_e3ddef214f3f40879f60c910a546e7f8_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "6ea4454ea6c690901dfd3fc8372004cd1c1d142e4c23d1322a643d7ff0131dde",
|
| 39 |
+
"optimizer_sha256": "30721c5684f83678fffb87becc1923ee54c1ded5b19e6e0752c4bc87ff15a0cf",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 398,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 66864,
|
| 45 |
+
"adam_update_count": 66864,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 399,
|
| 49 |
+
"consumed_count": 398,
|
| 50 |
+
"last_submitted_update": 66864,
|
| 51 |
+
"last_consumed_update": 66696,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 66864,
|
| 56 |
+
"completed_passes": 398,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 66864,
|
| 59 |
+
"snapshot": "pass_end_0398",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 398,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 66864,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 66864,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00017020672385115176,
|
| 83 |
+
"update_l2": 0.05652435123920441
|
| 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": 2.470293293299619e-05,
|
| 95 |
+
"update_l2": 0.0026310523971915245
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1061769651370687,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24888,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1061769651370687,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03366433456540108,
|
| 129 |
+
"ssim_fused": 0.8943477869033813,
|
| 130 |
+
"seg_l1": 0.04621509090065956,
|
| 131 |
+
"seg_ssim_ref": 0.8943465948104858,
|
| 132 |
+
"depth": 0.012301106993631144,
|
| 133 |
+
"rgb_loss": 0.04806191474199295,
|
| 134 |
+
"seg_loss": 0.05810275673866272,
|
| 135 |
+
"total": 0.1061769651370687
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05194242298603058,
|
| 141 |
+
"ssim_fused": 0.8749576807022095,
|
| 142 |
+
"seg_l1": 0.061713527888059616,
|
| 143 |
+
"seg_ssim_ref": 0.8749571442604065,
|
| 144 |
+
"depth": 0.019331942616543706,
|
| 145 |
+
"rgb_loss": 0.06656240671873093,
|
| 146 |
+
"seg_loss": 0.07437939196825027,
|
| 147 |
+
"total": 0.14096113062959775,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019331942616543706,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013841719092238152
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03851214796304703,
|
| 174 |
+
"ssim_fused": 0.8777170777320862,
|
| 175 |
+
"seg_l1": 0.06258934736251831,
|
| 176 |
+
"seg_ssim_ref": 0.8777155876159668,
|
| 177 |
+
"depth": 0.01452678603897725,
|
| 178 |
+
"rgb_loss": 0.055266305804252625,
|
| 179 |
+
"seg_loss": 0.07452835887670517,
|
| 180 |
+
"total": 0.12980918401641617,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01452678603897725,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01143251629071336
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025038782507181168,
|
| 207 |
+
"ssim_fused": 0.9103029370307922,
|
| 208 |
+
"seg_l1": 0.03671085461974144,
|
| 209 |
+
"seg_ssim_ref": 0.9103016257286072,
|
| 210 |
+
"depth": 0.009853592234247156,
|
| 211 |
+
"rgb_loss": 0.03797043859958649,
|
| 212 |
+
"seg_loss": 0.047308359295129776,
|
| 213 |
+
"total": 0.08528864776166022,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009853592234247156,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008565577911330492
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01916397735476494,
|
| 240 |
+
"ssim_fused": 0.9144134521484375,
|
| 241 |
+
"seg_l1": 0.02384663186967373,
|
| 242 |
+
"seg_ssim_ref": 0.9144119620323181,
|
| 243 |
+
"depth": 0.005492107084756459,
|
| 244 |
+
"rgb_loss": 0.03244849294424057,
|
| 245 |
+
"seg_loss": 0.03619491308927536,
|
| 246 |
+
"total": 0.06864889814060068,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005492107084756459,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005492107084756459
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 398,
|
| 281 |
+
"adam_update_count": 66864
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23939037509262562
|
| 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_e3ddef214f3f40879f60c910a546e7f8_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 399,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 66865,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 398,
|
| 300 |
+
"trained_intervals": 66864,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 66864,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.351402282714844,
|
| 333 |
+
"median": 11.280609130859375,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.000166654586792,
|
| 354 |
+
"median": 9.124350547790527,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006416919059120119,
|
| 361 |
+
"median": 79269.53125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1353127360343933,
|
| 382 |
+
"median": 9364.9033203125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24888,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0399.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_0399",
|
| 5 |
+
"executed_epochs": 399,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_ad33ead4459b458ca8561c81546f5ded.npz",
|
| 37 |
+
"optimizer_file": "boundary_ad33ead4459b458ca8561c81546f5ded_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "9b81962fd9af57ccd1391257a6a91102b62c4900bb4fb82eab14d50ae33bc419",
|
| 39 |
+
"optimizer_sha256": "8ca945259acadef4ff4cbc2aa48bbcabdbeaa7628000c3bd574720199b8bcf0e",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 399,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67032,
|
| 45 |
+
"adam_update_count": 67032,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 400,
|
| 49 |
+
"consumed_count": 399,
|
| 50 |
+
"last_submitted_update": 67032,
|
| 51 |
+
"last_consumed_update": 66864,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67032,
|
| 56 |
+
"completed_passes": 399,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67032,
|
| 59 |
+
"snapshot": "pass_end_0399",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 399,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67032,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67032,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0002671426918823272,
|
| 83 |
+
"update_l2": 0.05989595875144005
|
| 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": 2.8109845516155474e-05,
|
| 95 |
+
"update_l2": 0.002709906781092286
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10626783870824993,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24898,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10626783870824993,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03368111327290535,
|
| 129 |
+
"ssim_fused": 0.8942346572875977,
|
| 130 |
+
"seg_l1": 0.04625529795885086,
|
| 131 |
+
"seg_ssim_ref": 0.8942333459854126,
|
| 132 |
+
"depth": 0.012309259859939664,
|
| 133 |
+
"rgb_loss": 0.048097964376211166,
|
| 134 |
+
"seg_loss": 0.05815756320953369,
|
| 135 |
+
"total": 0.10626783870824993
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05169323831796646,
|
| 141 |
+
"ssim_fused": 0.875259518623352,
|
| 142 |
+
"seg_l1": 0.06129986047744751,
|
| 143 |
+
"seg_ssim_ref": 0.8752588033676147,
|
| 144 |
+
"depth": 0.019260493256134603,
|
| 145 |
+
"rgb_loss": 0.06630268692970276,
|
| 146 |
+
"seg_loss": 0.07398812472820282,
|
| 147 |
+
"total": 0.1403100721511617,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019260493256134603,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013770269731829047
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03858136385679245,
|
| 174 |
+
"ssim_fused": 0.8775317072868347,
|
| 175 |
+
"seg_l1": 0.06278468668460846,
|
| 176 |
+
"seg_ssim_ref": 0.8775302171707153,
|
| 177 |
+
"depth": 0.014449614424279427,
|
| 178 |
+
"rgb_loss": 0.055358752608299255,
|
| 179 |
+
"seg_loss": 0.07472170889377594,
|
| 180 |
+
"total": 0.13009491111649948,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014449614424279427,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011355344676015537
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02508462965488434,
|
| 207 |
+
"ssim_fused": 0.9105715751647949,
|
| 208 |
+
"seg_l1": 0.03673724830150604,
|
| 209 |
+
"seg_ssim_ref": 0.9105702042579651,
|
| 210 |
+
"depth": 0.009937362932667343,
|
| 211 |
+
"rgb_loss": 0.037953391671180725,
|
| 212 |
+
"seg_loss": 0.047275759279727936,
|
| 213 |
+
"total": 0.08523908831384133,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009937362932667343,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008649348609750676
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019365224987268448,
|
| 240 |
+
"ssim_fused": 0.9135757684707642,
|
| 241 |
+
"seg_l1": 0.024199390783905983,
|
| 242 |
+
"seg_ssim_ref": 0.91357421875,
|
| 243 |
+
"depth": 0.0055895688266772775,
|
| 244 |
+
"rgb_loss": 0.032777026295661926,
|
| 245 |
+
"seg_loss": 0.03664466738700867,
|
| 246 |
+
"total": 0.06942728325149727,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0055895688266772775,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0055895688266772775
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 399,
|
| 281 |
+
"adam_update_count": 67032
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23854238796047866
|
| 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_ad33ead4459b458ca8561c81546f5ded_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 400,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67033,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 399,
|
| 300 |
+
"trained_intervals": 67032,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67032,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.355959892272949,
|
| 333 |
+
"median": 11.283005714416504,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.014770269393921,
|
| 354 |
+
"median": 9.11270523071289,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006387739558704197,
|
| 361 |
+
"median": 79459.734375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.13335102796554565,
|
| 382 |
+
"median": 9247.4765625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24898,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0400.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_0400",
|
| 5 |
+
"executed_epochs": 400,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_a8f5ab93083e48ab9f3d7c3617df853a.npz",
|
| 37 |
+
"optimizer_file": "boundary_a8f5ab93083e48ab9f3d7c3617df853a_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "4b19fef96ae0b9fe85b93b1d4bdafd6adb2fb82f2659f6cddb2aad5a2f5d702f",
|
| 39 |
+
"optimizer_sha256": "9b8037e0b231ab50f3a3aa9462c8adfa676be60daa0964f616771653f7bbdb07",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 400,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67200,
|
| 45 |
+
"adam_update_count": 67200,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 401,
|
| 49 |
+
"consumed_count": 400,
|
| 50 |
+
"last_submitted_update": 67200,
|
| 51 |
+
"last_consumed_update": 67032,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67200,
|
| 56 |
+
"completed_passes": 400,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67200,
|
| 59 |
+
"snapshot": "pass_end_0400",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 400,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67200,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67200,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001670549827395007,
|
| 83 |
+
"update_l2": 0.05253836140036583
|
| 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": 2.6667543352232315e-05,
|
| 95 |
+
"update_l2": 0.0028752810321748257
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1061799930214912,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24901,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1061799930214912,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03360370174050331,
|
| 129 |
+
"ssim_fused": 0.8942142724990845,
|
| 130 |
+
"seg_l1": 0.04621274024248123,
|
| 131 |
+
"seg_ssim_ref": 0.894213080406189,
|
| 132 |
+
"depth": 0.012315231564673432,
|
| 133 |
+
"rgb_loss": 0.04804009944200516,
|
| 134 |
+
"seg_loss": 0.05812757462263107,
|
| 135 |
+
"total": 0.1061799930214912
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051634352654218674,
|
| 141 |
+
"ssim_fused": 0.8753884434700012,
|
| 142 |
+
"seg_l1": 0.06143512576818466,
|
| 143 |
+
"seg_ssim_ref": 0.8753878474235535,
|
| 144 |
+
"depth": 0.019316420868928156,
|
| 145 |
+
"rgb_loss": 0.06622979044914246,
|
| 146 |
+
"seg_loss": 0.0740705281496048,
|
| 147 |
+
"total": 0.14031963501961617,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019316420868928156,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.0138261973446226
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03831293806433678,
|
| 174 |
+
"ssim_fused": 0.8778387904167175,
|
| 175 |
+
"seg_l1": 0.062393952161073685,
|
| 176 |
+
"seg_ssim_ref": 0.8778373003005981,
|
| 177 |
+
"depth": 0.014383151719618795,
|
| 178 |
+
"rgb_loss": 0.055082593113183975,
|
| 179 |
+
"seg_loss": 0.07434770464897156,
|
| 180 |
+
"total": 0.12944467718858485,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014383151719618795,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011288881971354907
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025214459747076035,
|
| 207 |
+
"ssim_fused": 0.909669041633606,
|
| 208 |
+
"seg_l1": 0.0370318777859211,
|
| 209 |
+
"seg_ssim_ref": 0.9096677899360657,
|
| 210 |
+
"depth": 0.010012454482399236,
|
| 211 |
+
"rgb_loss": 0.03823775798082352,
|
| 212 |
+
"seg_loss": 0.0476919449865818,
|
| 213 |
+
"total": 0.08593971914717802,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010012454482399236,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008724440159482571
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01925305649638176,
|
| 240 |
+
"ssim_fused": 0.913960874080658,
|
| 241 |
+
"seg_l1": 0.02399001084268093,
|
| 242 |
+
"seg_ssim_ref": 0.9139594435691833,
|
| 243 |
+
"depth": 0.005548899187747545,
|
| 244 |
+
"rgb_loss": 0.032610271126031876,
|
| 245 |
+
"seg_loss": 0.036400120705366135,
|
| 246 |
+
"total": 0.06901594073058576,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005548899187747545,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0055488991877475444
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 400,
|
| 281 |
+
"adam_update_count": 67200
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2529994691722095
|
| 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_a8f5ab93083e48ab9f3d7c3617df853a_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 401,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67201,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 400,
|
| 300 |
+
"trained_intervals": 67200,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67200,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.36041784286499,
|
| 333 |
+
"median": 11.294137001037598,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.0282809734344482,
|
| 354 |
+
"median": 9.101874351501465,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006359326653182507,
|
| 361 |
+
"median": 80349.1640625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1315614879131317,
|
| 382 |
+
"median": 9131.5634765625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24901,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0401.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_0401",
|
| 5 |
+
"executed_epochs": 401,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_141609cd4267476693227dbd264f8f25.npz",
|
| 37 |
+
"optimizer_file": "boundary_141609cd4267476693227dbd264f8f25_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "6cbb11ee96e00b5aee2a9b522ba2d35620f585de47ab6211a07386254887924f",
|
| 39 |
+
"optimizer_sha256": "dd3e3c636ff153548d82af1b4397344f570a0426bc7cd24e21cdadf6bb86bdf2",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 401,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67368,
|
| 45 |
+
"adam_update_count": 67368,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 402,
|
| 49 |
+
"consumed_count": 401,
|
| 50 |
+
"last_submitted_update": 67368,
|
| 51 |
+
"last_consumed_update": 67200,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67368,
|
| 56 |
+
"completed_passes": 401,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67368,
|
| 59 |
+
"snapshot": "pass_end_0401",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 401,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67368,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67368,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00024587116786278784,
|
| 83 |
+
"update_l2": 0.054353609681129456
|
| 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": 3.139292311971076e-05,
|
| 95 |
+
"update_l2": 0.0011354514863342047
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10597508589559165,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24909,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10597508589559165,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03351054713129997,
|
| 129 |
+
"ssim_fused": 0.8942359685897827,
|
| 130 |
+
"seg_l1": 0.046060711145401,
|
| 131 |
+
"seg_ssim_ref": 0.8942346572875977,
|
| 132 |
+
"depth": 0.012198489242473541,
|
| 133 |
+
"rgb_loss": 0.04796124994754791,
|
| 134 |
+
"seg_loss": 0.05800163745880127,
|
| 135 |
+
"total": 0.10597508589559165
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05142544209957123,
|
| 141 |
+
"ssim_fused": 0.8756190538406372,
|
| 142 |
+
"seg_l1": 0.061340175569057465,
|
| 143 |
+
"seg_ssim_ref": 0.8756182789802551,
|
| 144 |
+
"depth": 0.019309733858015647,
|
| 145 |
+
"rgb_loss": 0.0660165473818779,
|
| 146 |
+
"seg_loss": 0.07394848763942719,
|
| 147 |
+
"total": 0.1399843373045825,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019309733858015647,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013819510333710091
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03822870925068855,
|
| 174 |
+
"ssim_fused": 0.877771258354187,
|
| 175 |
+
"seg_l1": 0.062287140637636185,
|
| 176 |
+
"seg_ssim_ref": 0.8777696490287781,
|
| 177 |
+
"depth": 0.014229566246063656,
|
| 178 |
+
"rgb_loss": 0.05502871423959732,
|
| 179 |
+
"seg_loss": 0.07427578419446945,
|
| 180 |
+
"total": 0.12931872800031283,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014229566246063656,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011135296497799768
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025131694972515106,
|
| 207 |
+
"ssim_fused": 0.9096693992614746,
|
| 208 |
+
"seg_l1": 0.036740340292453766,
|
| 209 |
+
"seg_ssim_ref": 0.9096680283546448,
|
| 210 |
+
"depth": 0.009823923928483597,
|
| 211 |
+
"rgb_loss": 0.03817147761583328,
|
| 212 |
+
"seg_loss": 0.04745866730809212,
|
| 213 |
+
"total": 0.08563997257314418,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009823923928483597,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00853590960556693
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.0192563496530056,
|
| 240 |
+
"ssim_fused": 0.9138841032981873,
|
| 241 |
+
"seg_l1": 0.02387518249452114,
|
| 242 |
+
"seg_ssim_ref": 0.9138826727867126,
|
| 243 |
+
"depth": 0.00543073293733126,
|
| 244 |
+
"rgb_loss": 0.03262826055288315,
|
| 245 |
+
"seg_loss": 0.03632361441850662,
|
| 246 |
+
"total": 0.06895730570432711,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.00543073293733126,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.00543073293733126
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 401,
|
| 281 |
+
"adam_update_count": 67368
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24048564187251031
|
| 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_141609cd4267476693227dbd264f8f25_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 402,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67369,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 401,
|
| 300 |
+
"trained_intervals": 67368,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67368,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.3648247718811035,
|
| 333 |
+
"median": 11.301538467407227,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.0384678840637207,
|
| 354 |
+
"median": 9.09290885925293,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006331363110803068,
|
| 361 |
+
"median": 80946.0703125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.13022808730602264,
|
| 382 |
+
"median": 9030.07421875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24909,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0402.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_0402",
|
| 5 |
+
"executed_epochs": 402,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_eaad13776df24d70a1dab02e04e95746.npz",
|
| 37 |
+
"optimizer_file": "boundary_eaad13776df24d70a1dab02e04e95746_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "9274053162001d32b775625b80f86b8cc7fbe8dd031d7ac83fce6113bdb9c650",
|
| 39 |
+
"optimizer_sha256": "d366b7d59ffa07d235526ae1f93c1ff5c8a2eedbf48b7eba6246bdf633e64886",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 402,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67536,
|
| 45 |
+
"adam_update_count": 67536,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 403,
|
| 49 |
+
"consumed_count": 402,
|
| 50 |
+
"last_submitted_update": 67536,
|
| 51 |
+
"last_consumed_update": 67368,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67536,
|
| 56 |
+
"completed_passes": 402,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67536,
|
| 59 |
+
"snapshot": "pass_end_0402",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 402,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67536,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67536,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00018297179485671222,
|
| 83 |
+
"update_l2": 0.05100581422448158
|
| 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": 2.5199138690368272e-05,
|
| 95 |
+
"update_l2": 0.001772749936208129
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10635699636908297,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24916,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10635699636908297,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03369203582406044,
|
| 129 |
+
"ssim_fused": 0.8941901922225952,
|
| 130 |
+
"seg_l1": 0.04633362591266632,
|
| 131 |
+
"seg_ssim_ref": 0.8941889405250549,
|
| 132 |
+
"depth": 0.01228160830263417,
|
| 133 |
+
"rgb_loss": 0.04811559617519379,
|
| 134 |
+
"seg_loss": 0.05822911858558655,
|
| 135 |
+
"total": 0.10635699636908297
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051954131573438644,
|
| 141 |
+
"ssim_fused": 0.8749328851699829,
|
| 142 |
+
"seg_l1": 0.06183549016714096,
|
| 143 |
+
"seg_ssim_ref": 0.8749323487281799,
|
| 144 |
+
"depth": 0.019362237024718582,
|
| 145 |
+
"rgb_loss": 0.06657672673463821,
|
| 146 |
+
"seg_loss": 0.07448192685842514,
|
| 147 |
+
"total": 0.14107801583008808,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019362237024718582,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013872013500413028
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03864854574203491,
|
| 174 |
+
"ssim_fused": 0.877406656742096,
|
| 175 |
+
"seg_l1": 0.06290335208177567,
|
| 176 |
+
"seg_ssim_ref": 0.877405047416687,
|
| 177 |
+
"depth": 0.014448166538372689,
|
| 178 |
+
"rgb_loss": 0.05543750524520874,
|
| 179 |
+
"seg_loss": 0.07484167069196701,
|
| 180 |
+
"total": 0.13029363155429471,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014448166538372689,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011353896790108802
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025167902931571007,
|
| 207 |
+
"ssim_fused": 0.9098601937294006,
|
| 208 |
+
"seg_l1": 0.03702852129936218,
|
| 209 |
+
"seg_ssim_ref": 0.9098589420318604,
|
| 210 |
+
"depth": 0.009903662195805098,
|
| 211 |
+
"rgb_loss": 0.03816228359937668,
|
| 212 |
+
"seg_loss": 0.047651030123233795,
|
| 213 |
+
"total": 0.08582321738480628,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009903662195805098,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00861564787288843
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.018997563049197197,
|
| 240 |
+
"ssim_fused": 0.9145609140396118,
|
| 241 |
+
"seg_l1": 0.023567140102386475,
|
| 242 |
+
"seg_ssim_ref": 0.9145593643188477,
|
| 243 |
+
"depth": 0.005412367451640312,
|
| 244 |
+
"rgb_loss": 0.032285869121551514,
|
| 245 |
+
"seg_loss": 0.03594183921813965,
|
| 246 |
+
"total": 0.0682331207071428,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005412367451640312,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005412367451640312
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 402,
|
| 281 |
+
"adam_update_count": 67536
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2468964089639485
|
| 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_eaad13776df24d70a1dab02e04e95746_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 403,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67537,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 402,
|
| 300 |
+
"trained_intervals": 67536,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67536,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.368733882904053,
|
| 333 |
+
"median": 11.313423156738281,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.051398992538452,
|
| 354 |
+
"median": 9.087482452392578,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006306662107817829,
|
| 361 |
+
"median": 81913.8359375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.12855492532253265,
|
| 382 |
+
"median": 8981.4921875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24917,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0403.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_0403",
|
| 5 |
+
"executed_epochs": 403,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_44814a85794349d591d7692da9706b26.npz",
|
| 37 |
+
"optimizer_file": "boundary_44814a85794349d591d7692da9706b26_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "3d154361ea50cabc485c8b37e5ba78c7df6a8bb98a6fe1d34d9dcccb65779708",
|
| 39 |
+
"optimizer_sha256": "90436dc5bee09b1ff852c853f03a4a7f771a4a392fdc3dbcefa78697bbbb3731",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 403,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67704,
|
| 45 |
+
"adam_update_count": 67704,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 404,
|
| 49 |
+
"consumed_count": 403,
|
| 50 |
+
"last_submitted_update": 67704,
|
| 51 |
+
"last_consumed_update": 67536,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67704,
|
| 56 |
+
"completed_passes": 403,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67704,
|
| 59 |
+
"snapshot": "pass_end_0403",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 403,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67704,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67704,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00017096671217586845,
|
| 83 |
+
"update_l2": 0.05344993993639946
|
| 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": 2.3813698135199957e-05,
|
| 95 |
+
"update_l2": 0.00239596632309258
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10641564539141507,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24927,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10641564539141507,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03371492400765419,
|
| 129 |
+
"ssim_fused": 0.8941425085067749,
|
| 130 |
+
"seg_l1": 0.04636004567146301,
|
| 131 |
+
"seg_ssim_ref": 0.8941411972045898,
|
| 132 |
+
"depth": 0.012408182691061068,
|
| 133 |
+
"rgb_loss": 0.04814343899488449,
|
| 134 |
+
"seg_loss": 0.05825980007648468,
|
| 135 |
+
"total": 0.10641564539141507
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05185071751475334,
|
| 141 |
+
"ssim_fused": 0.875211775302887,
|
| 142 |
+
"seg_l1": 0.06165669485926628,
|
| 143 |
+
"seg_ssim_ref": 0.8752110600471497,
|
| 144 |
+
"depth": 0.019374767769466207,
|
| 145 |
+
"rgb_loss": 0.0664382204413414,
|
| 146 |
+
"seg_loss": 0.07428314536809921,
|
| 147 |
+
"total": 0.1407407405772101,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019374767769466207,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013884544245160649
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03856837376952171,
|
| 174 |
+
"ssim_fused": 0.8777042627334595,
|
| 175 |
+
"seg_l1": 0.06272004544734955,
|
| 176 |
+
"seg_ssim_ref": 0.8777027130126953,
|
| 177 |
+
"depth": 0.014636145770718449,
|
| 178 |
+
"rgb_loss": 0.055313847959041595,
|
| 179 |
+
"seg_loss": 0.07463549077510834,
|
| 180 |
+
"total": 0.12996396742934005,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014636145770718449,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01154187602245456
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02524433843791485,
|
| 207 |
+
"ssim_fused": 0.909320592880249,
|
| 208 |
+
"seg_l1": 0.03708904609084129,
|
| 209 |
+
"seg_ssim_ref": 0.9093191027641296,
|
| 210 |
+
"depth": 0.010027468176154007,
|
| 211 |
+
"rgb_loss": 0.038331352174282074,
|
| 212 |
+
"seg_loss": 0.047807417809963226,
|
| 213 |
+
"total": 0.08614879745242146,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010027468176154007,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00873945385323734
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019196268171072006,
|
| 240 |
+
"ssim_fused": 0.9143334031105042,
|
| 241 |
+
"seg_l1": 0.023974381387233734,
|
| 242 |
+
"seg_ssim_ref": 0.9143317937850952,
|
| 243 |
+
"depth": 0.00559434904790561,
|
| 244 |
+
"rgb_loss": 0.032490335404872894,
|
| 245 |
+
"seg_loss": 0.036313146352767944,
|
| 246 |
+
"total": 0.06880907610668874,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.00559434904790561,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.00559434904790561
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 403,
|
| 281 |
+
"adam_update_count": 67704
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24078516685403883
|
| 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_44814a85794349d591d7692da9706b26_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 404,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67705,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 403,
|
| 300 |
+
"trained_intervals": 67704,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67704,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.372703552246094,
|
| 333 |
+
"median": 11.316631317138672,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.066180944442749,
|
| 354 |
+
"median": 9.076836585998535,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006281675887294114,
|
| 361 |
+
"median": 82177.046875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.12666860222816467,
|
| 382 |
+
"median": 8886.388671875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24928,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0404.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_0404",
|
| 5 |
+
"executed_epochs": 404,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_28d208c5ecf84c29a6e7d9bd54744d0b.npz",
|
| 37 |
+
"optimizer_file": "boundary_28d208c5ecf84c29a6e7d9bd54744d0b_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "99101bb2662a97a68273fa88d2709d7882963cdb0cfbe48eed78ca59f818a6d6",
|
| 39 |
+
"optimizer_sha256": "faf4b6cdfe7aebd20f5d269a7082568d500d7bc107aeb994acbe6f9f106c16b6",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 404,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 67872,
|
| 45 |
+
"adam_update_count": 67872,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 405,
|
| 49 |
+
"consumed_count": 404,
|
| 50 |
+
"last_submitted_update": 67872,
|
| 51 |
+
"last_consumed_update": 67704,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 67872,
|
| 56 |
+
"completed_passes": 404,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 67872,
|
| 59 |
+
"snapshot": "pass_end_0404",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 404,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 67872,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 67872,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0006608740659430623,
|
| 83 |
+
"update_l2": 0.05267439782619476
|
| 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": 4.164036363363266e-05,
|
| 95 |
+
"update_l2": 0.002811711048707366
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10611697439958172,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24935,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10611697439958172,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033580876886844635,
|
| 129 |
+
"ssim_fused": 0.8942490220069885,
|
| 130 |
+
"seg_l1": 0.046174198389053345,
|
| 131 |
+
"seg_ssim_ref": 0.894247829914093,
|
| 132 |
+
"depth": 0.012293131247331201,
|
| 133 |
+
"rgb_loss": 0.048014890402555466,
|
| 134 |
+
"seg_loss": 0.058089785277843475,
|
| 135 |
+
"total": 0.10611697439958172
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051307015120983124,
|
| 141 |
+
"ssim_fused": 0.8758992552757263,
|
| 142 |
+
"seg_l1": 0.06098056584596634,
|
| 143 |
+
"seg_ssim_ref": 0.8758987188339233,
|
| 144 |
+
"depth": 0.019294439683512188,
|
| 145 |
+
"rgb_loss": 0.06586576253175735,
|
| 146 |
+
"seg_loss": 0.07360471040010452,
|
| 147 |
+
"total": 0.1394897673715454,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019294439683512188,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013804216159206633
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03828218951821327,
|
| 174 |
+
"ssim_fused": 0.8778009414672852,
|
| 175 |
+
"seg_l1": 0.062405429780483246,
|
| 176 |
+
"seg_ssim_ref": 0.8777994513511658,
|
| 177 |
+
"depth": 0.014295844242463614,
|
| 178 |
+
"rgb_loss": 0.055065564811229706,
|
| 179 |
+
"seg_loss": 0.07436445355415344,
|
| 180 |
+
"total": 0.1294443216602062,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014295844242463614,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011201574494199723
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025272425264120102,
|
| 207 |
+
"ssim_fused": 0.9096933603286743,
|
| 208 |
+
"seg_l1": 0.03701316565275192,
|
| 209 |
+
"seg_ssim_ref": 0.909692108631134,
|
| 210 |
+
"depth": 0.009944054821586598,
|
| 211 |
+
"rgb_loss": 0.03827926889061928,
|
| 212 |
+
"seg_loss": 0.04767211154103279,
|
| 213 |
+
"total": 0.08596132448647366,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009944054821586598,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008656040498669932
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01946186274290085,
|
| 240 |
+
"ssim_fused": 0.9136025905609131,
|
| 241 |
+
"seg_l1": 0.024297617375850677,
|
| 242 |
+
"seg_ssim_ref": 0.9136011004447937,
|
| 243 |
+
"depth": 0.0056381862417624025,
|
| 244 |
+
"rgb_loss": 0.03284897282719612,
|
| 245 |
+
"seg_loss": 0.03671787306666374,
|
| 246 |
+
"total": 0.06957248408010162,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0056381862417624025,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0056381862417624025
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 404,
|
| 281 |
+
"adam_update_count": 67872
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24150003888644278
|
| 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_28d208c5ecf84c29a6e7d9bd54744d0b_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 405,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 67873,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 404,
|
| 300 |
+
"trained_intervals": 67872,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 67872,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.381308555603027,
|
| 333 |
+
"median": 11.32475471496582,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.0789010524749756,
|
| 354 |
+
"median": 9.065153121948242,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006227854173630476,
|
| 361 |
+
"median": 82847.328125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.1250675916671753,
|
| 382 |
+
"median": 8783.58984375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24935,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0405.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_0405",
|
| 5 |
+
"executed_epochs": 405,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_4adca41533074a06a32d04e1c130352f.npz",
|
| 37 |
+
"optimizer_file": "boundary_4adca41533074a06a32d04e1c130352f_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "20f711af0ed90fd03bcb69e34d346fc49c5b51a428b3e91b7cdf1de31b0a9b20",
|
| 39 |
+
"optimizer_sha256": "b0bbbd7b7550f389aff53a41e075328fcf597c4e22b6036c08a46b562ce4da7e",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 405,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68040,
|
| 45 |
+
"adam_update_count": 68040,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 406,
|
| 49 |
+
"consumed_count": 405,
|
| 50 |
+
"last_submitted_update": 68040,
|
| 51 |
+
"last_consumed_update": 67872,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68040,
|
| 56 |
+
"completed_passes": 405,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68040,
|
| 59 |
+
"snapshot": "pass_end_0405",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 405,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68040,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68040,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0002051124902209267,
|
| 83 |
+
"update_l2": 0.04998808726668358
|
| 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": 2.4491415388183668e-05,
|
| 95 |
+
"update_l2": 0.002859769854694605
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1062346189420982,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24946,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1062346189420982,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03367280960083008,
|
| 129 |
+
"ssim_fused": 0.8942821621894836,
|
| 130 |
+
"seg_l1": 0.046245742589235306,
|
| 131 |
+
"seg_ssim_ref": 0.8942809104919434,
|
| 132 |
+
"depth": 0.01237682517008177,
|
| 133 |
+
"rgb_loss": 0.04808182269334793,
|
| 134 |
+
"seg_loss": 0.05814041942358017,
|
| 135 |
+
"total": 0.1062346189420982
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05201873928308487,
|
| 141 |
+
"ssim_fused": 0.8749766945838928,
|
| 142 |
+
"seg_l1": 0.06189221516251564,
|
| 143 |
+
"seg_ssim_ref": 0.8749759197235107,
|
| 144 |
+
"depth": 0.01942630342561467,
|
| 145 |
+
"rgb_loss": 0.06661964952945709,
|
| 146 |
+
"seg_loss": 0.0745185911655426,
|
| 147 |
+
"total": 0.1411576669984253,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01942630342561467,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013936079901309113
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038571059703826904,
|
| 174 |
+
"ssim_fused": 0.8776360154151917,
|
| 175 |
+
"seg_l1": 0.062699094414711,
|
| 176 |
+
"seg_ssim_ref": 0.8776345252990723,
|
| 177 |
+
"depth": 0.014540702334464426,
|
| 178 |
+
"rgb_loss": 0.055329643189907074,
|
| 179 |
+
"seg_loss": 0.07463236898183823,
|
| 180 |
+
"total": 0.12997655287407978,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014540702334464426,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011446432586200537
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02508881688117981,
|
| 207 |
+
"ssim_fused": 0.9096996784210205,
|
| 208 |
+
"seg_l1": 0.036792170256376266,
|
| 209 |
+
"seg_ssim_ref": 0.9096984267234802,
|
| 210 |
+
"depth": 0.00999990933878011,
|
| 211 |
+
"rgb_loss": 0.038131117820739746,
|
| 212 |
+
"seg_loss": 0.04749405384063721,
|
| 213 |
+
"total": 0.08563517157071573,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00999990933878011,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008711895015863443
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01901262439787388,
|
| 240 |
+
"ssim_fused": 0.9148160815238953,
|
| 241 |
+
"seg_l1": 0.02359948866069317,
|
| 242 |
+
"seg_ssim_ref": 0.9148146510124207,
|
| 243 |
+
"depth": 0.005540385581467869,
|
| 244 |
+
"rgb_loss": 0.03224688395857811,
|
| 245 |
+
"seg_loss": 0.035916659981012344,
|
| 246 |
+
"total": 0.06816908432517192,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005540385581467869,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0055403855814678705
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 405,
|
| 281 |
+
"adam_update_count": 68040
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2460879108402878
|
| 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_4adca41533074a06a32d04e1c130352f_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 406,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68041,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 405,
|
| 300 |
+
"trained_intervals": 68040,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68040,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.38703727722168,
|
| 333 |
+
"median": 11.340187072753906,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.0927374362945557,
|
| 354 |
+
"median": 9.055049896240234,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006192278815433383,
|
| 361 |
+
"median": 84135.765625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.12334901094436646,
|
| 382 |
+
"median": 8692.87890625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24946,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0406.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_0406",
|
| 5 |
+
"executed_epochs": 406,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_d25253b4be51450fab202709932c1e65.npz",
|
| 37 |
+
"optimizer_file": "boundary_d25253b4be51450fab202709932c1e65_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "273518f1054eb38357f7b276fad3d9418738b44bff1b7abbd1f6a48363fb1feb",
|
| 39 |
+
"optimizer_sha256": "1d888a5e9202379bce049f17098df5cc09df16ae098f89a3aab54c4c2b481261",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 406,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68208,
|
| 45 |
+
"adam_update_count": 68208,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 407,
|
| 49 |
+
"consumed_count": 406,
|
| 50 |
+
"last_submitted_update": 68208,
|
| 51 |
+
"last_consumed_update": 68040,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68208,
|
| 56 |
+
"completed_passes": 406,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68208,
|
| 59 |
+
"snapshot": "pass_end_0406",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 406,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68208,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68208,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001845283986767754,
|
| 83 |
+
"update_l2": 0.06447499245405197
|
| 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": 2.6916999559034593e-05,
|
| 95 |
+
"update_l2": 0.0028913086280226707
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10732422332779422,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24958,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10732422332779422,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03395962715148926,
|
| 129 |
+
"ssim_fused": 0.8931858539581299,
|
| 130 |
+
"seg_l1": 0.04677275940775871,
|
| 131 |
+
"seg_ssim_ref": 0.8931846618652344,
|
| 132 |
+
"depth": 0.012415754952577084,
|
| 133 |
+
"rgb_loss": 0.04853052645921707,
|
| 134 |
+
"seg_loss": 0.058781277388334274,
|
| 135 |
+
"total": 0.10732422332779422
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05192249268293381,
|
| 141 |
+
"ssim_fused": 0.874821126461029,
|
| 142 |
+
"seg_l1": 0.061723023653030396,
|
| 143 |
+
"seg_ssim_ref": 0.8748205304145813,
|
| 144 |
+
"depth": 0.019333270800323484,
|
| 145 |
+
"rgb_loss": 0.06657376885414124,
|
| 146 |
+
"seg_loss": 0.07441431283950806,
|
| 147 |
+
"total": 0.14100741496444963,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019333270800323484,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01384304727601793
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03867644444108009,
|
| 174 |
+
"ssim_fused": 0.8772889375686646,
|
| 175 |
+
"seg_l1": 0.06289542466402054,
|
| 176 |
+
"seg_ssim_ref": 0.8772875070571899,
|
| 177 |
+
"depth": 0.014607503889189877,
|
| 178 |
+
"rgb_loss": 0.0554833710193634,
|
| 179 |
+
"seg_loss": 0.07485884428024292,
|
| 180 |
+
"total": 0.1303568228034955,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014607503889189877,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01151323414092599
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02555818296968937,
|
| 207 |
+
"ssim_fused": 0.9078066945075989,
|
| 208 |
+
"seg_l1": 0.03762766718864441,
|
| 209 |
+
"seg_ssim_ref": 0.9078054428100586,
|
| 210 |
+
"depth": 0.010077782905538723,
|
| 211 |
+
"rgb_loss": 0.0388852059841156,
|
| 212 |
+
"seg_loss": 0.04854104667901993,
|
| 213 |
+
"total": 0.08743633044604107,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010077782905538723,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008789768582622055
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019681384786963463,
|
| 240 |
+
"ssim_fused": 0.9128267168998718,
|
| 241 |
+
"seg_l1": 0.024844929575920105,
|
| 242 |
+
"seg_ssim_ref": 0.9128251671791077,
|
| 243 |
+
"depth": 0.005644462215256257,
|
| 244 |
+
"rgb_loss": 0.033179767429828644,
|
| 245 |
+
"seg_loss": 0.03731091320514679,
|
| 246 |
+
"total": 0.07049632509719068,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005644462215256257,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0056444622152562575
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 406,
|
| 281 |
+
"adam_update_count": 68208
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.238424050854519
|
| 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_d25253b4be51450fab202709932c1e65_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 407,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68209,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 406,
|
| 300 |
+
"trained_intervals": 68208,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68208,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.3900933265686035,
|
| 333 |
+
"median": 11.348060607910156,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.1036791801452637,
|
| 354 |
+
"median": 9.055240631103516,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006173383444547653,
|
| 361 |
+
"median": 84800.8359375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.12200671434402466,
|
| 382 |
+
"median": 8653.826171875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24958,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0407.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_0407",
|
| 5 |
+
"executed_epochs": 407,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08795784457995026,
|
| 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_1f9278b74aef4cd48738a645884e7710.npz",
|
| 37 |
+
"optimizer_file": "boundary_1f9278b74aef4cd48738a645884e7710_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "c713f8aff8c3afec1fbaa72e39e0cac26284da0b828bd84f3a7f325003d940a4",
|
| 39 |
+
"optimizer_sha256": "d7321bf7361d925bd2b5e6ebd3f9c9923527a8b0f78d7d108be113f7e9296aea",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 407,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68376,
|
| 45 |
+
"adam_update_count": 68376,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 408,
|
| 49 |
+
"consumed_count": 407,
|
| 50 |
+
"last_submitted_update": 68376,
|
| 51 |
+
"last_consumed_update": 68208,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68376,
|
| 56 |
+
"completed_passes": 407,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68376,
|
| 59 |
+
"snapshot": "pass_end_0407",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 66696,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 407,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68376,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68376,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016496026364620775,
|
| 83 |
+
"update_l2": 0.052939001470804214
|
| 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": 2.2643027477897704e-05,
|
| 95 |
+
"update_l2": 0.002986895851790905
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10569087160468306,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24963,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10569087160468306,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033431075513362885,
|
| 129 |
+
"ssim_fused": 0.8943722248077393,
|
| 130 |
+
"seg_l1": 0.04585323482751846,
|
| 131 |
+
"seg_ssim_ref": 0.8943710327148438,
|
| 132 |
+
"depth": 0.012080424430044078,
|
| 133 |
+
"rgb_loss": 0.04787040874361992,
|
| 134 |
+
"seg_loss": 0.05780838057398796,
|
| 135 |
+
"total": 0.10569087160468306
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05144938826560974,
|
| 141 |
+
"ssim_fused": 0.8754599094390869,
|
| 142 |
+
"seg_l1": 0.0611574724316597,
|
| 143 |
+
"seg_ssim_ref": 0.8754592537879944,
|
| 144 |
+
"depth": 0.019197342415481624,
|
| 145 |
+
"rgb_loss": 0.06606753170490265,
|
| 146 |
+
"seg_loss": 0.073834128677845,
|
| 147 |
+
"total": 0.13992086517574373,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019197342415481624,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013707118891176068
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03833869472146034,
|
| 174 |
+
"ssim_fused": 0.8775860071182251,
|
| 175 |
+
"seg_l1": 0.06237547844648361,
|
| 176 |
+
"seg_ssim_ref": 0.8775844573974609,
|
| 177 |
+
"depth": 0.014189851765885123,
|
| 178 |
+
"rgb_loss": 0.05515375733375549,
|
| 179 |
+
"seg_loss": 0.07438348978757858,
|
| 180 |
+
"total": 0.12955144442368055,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014189851765885123,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011095582017621232
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.024961093440651894,
|
| 207 |
+
"ssim_fused": 0.9099699854850769,
|
| 208 |
+
"seg_l1": 0.03649932146072388,
|
| 209 |
+
"seg_ssim_ref": 0.9099687337875366,
|
| 210 |
+
"depth": 0.009588822854627442,
|
| 211 |
+
"rgb_loss": 0.03797487914562225,
|
| 212 |
+
"seg_loss": 0.04720570892095566,
|
| 213 |
+
"total": 0.08519017688943253,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009588822854627442,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008300808531710774
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01897512935101986,
|
| 240 |
+
"ssim_fused": 0.9144731760025024,
|
| 241 |
+
"seg_l1": 0.023380668833851814,
|
| 242 |
+
"seg_ssim_ref": 0.9144717454910278,
|
| 243 |
+
"depth": 0.00534568068418212,
|
| 244 |
+
"rgb_loss": 0.03228546679019928,
|
| 245 |
+
"seg_loss": 0.035810187458992004,
|
| 246 |
+
"total": 0.06810099992987546,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.00534568068418212,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005345680684182121
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 407,
|
| 281 |
+
"adam_update_count": 68376
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23646614304743707
|
| 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_1f9278b74aef4cd48738a645884e7710_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 408,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68377,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 407,
|
| 300 |
+
"trained_intervals": 68376,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68376,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.397821426391602,
|
| 333 |
+
"median": 11.355327606201172,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.11675763130188,
|
| 354 |
+
"median": 9.040803909301758,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006125859217718244,
|
| 361 |
+
"median": 85419.3203125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.12042145431041718,
|
| 382 |
+
"median": 8532.77734375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24963,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0408.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_0408",
|
| 5 |
+
"executed_epochs": 408,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_d785c495bde946a1a9eecaf0adf1ccb5.npz",
|
| 37 |
+
"optimizer_file": "boundary_d785c495bde946a1a9eecaf0adf1ccb5_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "f6a6ebc62c18d494636d30caa0297255da5786ec28fd4768f2e0fdf0a442c536",
|
| 39 |
+
"optimizer_sha256": "8db859f120c86cbeaa51e1a5a381b2986774f7ec78e00ffbfaccd5e113628c63",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 408,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68544,
|
| 45 |
+
"adam_update_count": 68544,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 409,
|
| 49 |
+
"consumed_count": 408,
|
| 50 |
+
"last_submitted_update": 68544,
|
| 51 |
+
"last_consumed_update": 68376,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68544,
|
| 56 |
+
"completed_passes": 408,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68544,
|
| 59 |
+
"snapshot": "pass_end_0408",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 408,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68544,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68544,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0002525279123801738,
|
| 83 |
+
"update_l2": 0.050564978271722794
|
| 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": 2.360304642934352e-05,
|
| 95 |
+
"update_l2": 0.0028912408743053675
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10591966606415301,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24975,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10591966606415301,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033580079674720764,
|
| 129 |
+
"ssim_fused": 0.8944602012634277,
|
| 130 |
+
"seg_l1": 0.04603401571512222,
|
| 131 |
+
"seg_ssim_ref": 0.8944590091705322,
|
| 132 |
+
"depth": 0.012222153315825596,
|
| 133 |
+
"rgb_loss": 0.04797202721238136,
|
| 134 |
+
"seg_loss": 0.05793542042374611,
|
| 135 |
+
"total": 0.10591966606415301
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051827676594257355,
|
| 141 |
+
"ssim_fused": 0.8751488327980042,
|
| 142 |
+
"seg_l1": 0.06139335781335831,
|
| 143 |
+
"seg_ssim_ref": 0.8751482963562012,
|
| 144 |
+
"depth": 0.019175165600782623,
|
| 145 |
+
"rgb_loss": 0.06643237173557281,
|
| 146 |
+
"seg_loss": 0.07408502697944641,
|
| 147 |
+
"total": 0.14053657388062002,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019175165600782623,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013684942076477068
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038637686520814896,
|
| 174 |
+
"ssim_fused": 0.8776021599769592,
|
| 175 |
+
"seg_l1": 0.06276965886354446,
|
| 176 |
+
"seg_ssim_ref": 0.8776006102561951,
|
| 177 |
+
"depth": 0.014548175020604653,
|
| 178 |
+
"rgb_loss": 0.05538971722126007,
|
| 179 |
+
"seg_loss": 0.07469560950994492,
|
| 180 |
+
"total": 0.130099867455645,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014548175020604653,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011453905272340765
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.024874379858374596,
|
| 207 |
+
"ssim_fused": 0.9103096127510071,
|
| 208 |
+
"seg_l1": 0.03640957549214363,
|
| 209 |
+
"seg_ssim_ref": 0.9103083610534668,
|
| 210 |
+
"depth": 0.009713336695892893,
|
| 211 |
+
"rgb_loss": 0.03783757984638214,
|
| 212 |
+
"seg_loss": 0.047065988183021545,
|
| 213 |
+
"total": 0.08491328136609957,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009713336695892893,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008425322372976224
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01898057572543621,
|
| 240 |
+
"ssim_fused": 0.9147800803184509,
|
| 241 |
+
"seg_l1": 0.023563476279377937,
|
| 242 |
+
"seg_ssim_ref": 0.9147786498069763,
|
| 243 |
+
"depth": 0.005451935946022213,
|
| 244 |
+
"rgb_loss": 0.03222844377160072,
|
| 245 |
+
"seg_loss": 0.03589504957199097,
|
| 246 |
+
"total": 0.06812894155424741,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005451935946022213,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005451935946022213
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 408,
|
| 281 |
+
"adam_update_count": 68544
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2383769720327109
|
| 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_d785c495bde946a1a9eecaf0adf1ccb5_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 409,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68545,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 408,
|
| 300 |
+
"trained_intervals": 68544,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68544,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.400609493255615,
|
| 333 |
+
"median": 11.363889694213867,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.1293721199035645,
|
| 354 |
+
"median": 9.025699615478516,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006108803208917379,
|
| 361 |
+
"median": 86153.828125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11891193687915802,
|
| 382 |
+
"median": 8386.1123046875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24975,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0409.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_0409",
|
| 5 |
+
"executed_epochs": 409,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_db660d259a104a0093d19ab8a2ddebfd.npz",
|
| 37 |
+
"optimizer_file": "boundary_db660d259a104a0093d19ab8a2ddebfd_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "f69d533d8b07dab9f8dd778bc5499343ed1af6856a9bd8e0896d0bd7f3b7e2b2",
|
| 39 |
+
"optimizer_sha256": "6720f52dd2139e5f7d8395a04b9fe9078ba6c3a3308d12f6157b52425adcedb1",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 409,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68712,
|
| 45 |
+
"adam_update_count": 68712,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 410,
|
| 49 |
+
"consumed_count": 409,
|
| 50 |
+
"last_submitted_update": 68712,
|
| 51 |
+
"last_consumed_update": 68544,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68712,
|
| 56 |
+
"completed_passes": 409,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68712,
|
| 59 |
+
"snapshot": "pass_end_0409",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 409,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68712,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68712,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0002212359686382115,
|
| 83 |
+
"update_l2": 0.061123043298721313
|
| 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": 3.179465056746267e-05,
|
| 95 |
+
"update_l2": 0.0037181552033871412
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1075137590782774,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24983,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1075137590782774,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.034061409533023834,
|
| 129 |
+
"ssim_fused": 0.8932676315307617,
|
| 130 |
+
"seg_l1": 0.04694873094558716,
|
| 131 |
+
"seg_ssim_ref": 0.8932664394378662,
|
| 132 |
+
"depth": 0.012451575888431335,
|
| 133 |
+
"rgb_loss": 0.0485956035554409,
|
| 134 |
+
"seg_loss": 0.0589057058095932,
|
| 135 |
+
"total": 0.1075137590782774
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05255457013845444,
|
| 141 |
+
"ssim_fused": 0.8739083409309387,
|
| 142 |
+
"seg_l1": 0.0629802793264389,
|
| 143 |
+
"seg_ssim_ref": 0.8739076852798462,
|
| 144 |
+
"depth": 0.019547091762559074,
|
| 145 |
+
"rgb_loss": 0.06726198643445969,
|
| 146 |
+
"seg_loss": 0.075602687895298,
|
| 147 |
+
"total": 0.14288422142152024,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019547091762559074,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.014056868238253518
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03863811492919922,
|
| 174 |
+
"ssim_fused": 0.8770703077316284,
|
| 175 |
+
"seg_l1": 0.06290359795093536,
|
| 176 |
+
"seg_ssim_ref": 0.8770688772201538,
|
| 177 |
+
"depth": 0.014455977609484302,
|
| 178 |
+
"rgb_loss": 0.05549643188714981,
|
| 179 |
+
"seg_loss": 0.07490910589694977,
|
| 180 |
+
"total": 0.13042000121228967,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014455977609484302,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011361707861220415
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025537818670272827,
|
| 207 |
+
"ssim_fused": 0.9086628556251526,
|
| 208 |
+
"seg_l1": 0.037477556616067886,
|
| 209 |
+
"seg_ssim_ref": 0.9086615443229675,
|
| 210 |
+
"depth": 0.010131714952652497,
|
| 211 |
+
"rgb_loss": 0.038697682321071625,
|
| 212 |
+
"seg_loss": 0.0482497364282608,
|
| 213 |
+
"total": 0.08695755046428508,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010131714952652497,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00884370062973583
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.0195151399821043,
|
| 240 |
+
"ssim_fused": 0.9134290218353271,
|
| 241 |
+
"seg_l1": 0.02443348616361618,
|
| 242 |
+
"seg_ssim_ref": 0.9134275317192078,
|
| 243 |
+
"depth": 0.00567151922902946,
|
| 244 |
+
"rgb_loss": 0.03292630612850189,
|
| 245 |
+
"seg_loss": 0.03686128556728363,
|
| 246 |
+
"total": 0.06979326321501456,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.00567151922902946,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.00567151922902946
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 409,
|
| 281 |
+
"adam_update_count": 68712
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2672012730035931
|
| 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_db660d259a104a0093d19ab8a2ddebfd_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 410,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68713,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 409,
|
| 300 |
+
"trained_intervals": 68712,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68712,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.399751663208008,
|
| 333 |
+
"median": 11.370687484741211,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.140321969985962,
|
| 354 |
+
"median": 9.014348983764648,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006114045972935855,
|
| 361 |
+
"median": 86741.484375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11761696636676788,
|
| 382 |
+
"median": 8286.560546875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24983,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0410.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_0410",
|
| 5 |
+
"executed_epochs": 410,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_d0d5c4662b904e8ca1a32677913eabe5.npz",
|
| 37 |
+
"optimizer_file": "boundary_d0d5c4662b904e8ca1a32677913eabe5_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "a40b5b693b5ce206f0486a68eae778d65397643f17ca44a77da73d0c843fc9d9",
|
| 39 |
+
"optimizer_sha256": "fa0ee49d644779142b7957d1d636af5cf3253fe78680a177bf0f6774ad497056",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 410,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 68880,
|
| 45 |
+
"adam_update_count": 68880,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 411,
|
| 49 |
+
"consumed_count": 410,
|
| 50 |
+
"last_submitted_update": 68880,
|
| 51 |
+
"last_consumed_update": 68712,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 68880,
|
| 56 |
+
"completed_passes": 410,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 68880,
|
| 59 |
+
"snapshot": "pass_end_0410",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 410,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 68880,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 68880,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00014962123532313854,
|
| 83 |
+
"update_l2": 0.043587446212768555
|
| 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": 2.204541851824615e-05,
|
| 95 |
+
"update_l2": 0.0025528923142701387
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.105742990667614,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24986,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.105742990667614,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033486537635326385,
|
| 129 |
+
"ssim_fused": 0.8944281935691833,
|
| 130 |
+
"seg_l1": 0.04589081555604935,
|
| 131 |
+
"seg_ssim_ref": 0.8944268822669983,
|
| 132 |
+
"depth": 0.01211806634332144,
|
| 133 |
+
"rgb_loss": 0.047903601080179214,
|
| 134 |
+
"seg_loss": 0.05782727152109146,
|
| 135 |
+
"total": 0.105742990667614
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05159340053796768,
|
| 141 |
+
"ssim_fused": 0.8753273487091064,
|
| 142 |
+
"seg_l1": 0.06114472448825836,
|
| 143 |
+
"seg_ssim_ref": 0.8753268122673035,
|
| 144 |
+
"depth": 0.01913806441101711,
|
| 145 |
+
"rgb_loss": 0.06620925664901733,
|
| 146 |
+
"seg_loss": 0.07385042309761047,
|
| 147 |
+
"total": 0.1400788178110388,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01913806441101711,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013647840886711558
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038530346006155014,
|
| 174 |
+
"ssim_fused": 0.877494215965271,
|
| 175 |
+
"seg_l1": 0.06265637278556824,
|
| 176 |
+
"seg_ssim_ref": 0.8774926066398621,
|
| 177 |
+
"depth": 0.014336827254766961,
|
| 178 |
+
"rgb_loss": 0.05532543361186981,
|
| 179 |
+
"seg_loss": 0.07462657988071442,
|
| 180 |
+
"total": 0.129966350319839,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014336827254766961,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011242557506503074
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02485114149749279,
|
| 207 |
+
"ssim_fused": 0.9105712175369263,
|
| 208 |
+
"seg_l1": 0.036318421363830566,
|
| 209 |
+
"seg_ssim_ref": 0.9105698466300964,
|
| 210 |
+
"depth": 0.00960105772128251,
|
| 211 |
+
"rgb_loss": 0.03776667267084122,
|
| 212 |
+
"seg_loss": 0.04694076627492905,
|
| 213 |
+
"total": 0.08471704000349155,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00960105772128251,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008313043398365843
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.018971271812915802,
|
| 240 |
+
"ssim_fused": 0.9143199324607849,
|
| 241 |
+
"seg_l1": 0.02344374731183052,
|
| 242 |
+
"seg_ssim_ref": 0.914318323135376,
|
| 243 |
+
"depth": 0.005396315986219173,
|
| 244 |
+
"rgb_loss": 0.0323130302131176,
|
| 245 |
+
"seg_loss": 0.0358913317322731,
|
| 246 |
+
"total": 0.06820975453608662,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005396315986219173,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005396315986219173
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 410,
|
| 281 |
+
"adam_update_count": 68880
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23568873992189765
|
| 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_d0d5c4662b904e8ca1a32677913eabe5_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 411,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 68881,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 410,
|
| 300 |
+
"trained_intervals": 68880,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 68880,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.403308391571045,
|
| 333 |
+
"median": 11.378256797790527,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.1527304649353027,
|
| 354 |
+
"median": 9.007789611816406,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006092338007874787,
|
| 361 |
+
"median": 87400.546875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11616653203964233,
|
| 382 |
+
"median": 8228.005859375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24986,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0411.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_0411",
|
| 5 |
+
"executed_epochs": 411,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_ef5de532f8b8442d844618febcc8634c.npz",
|
| 37 |
+
"optimizer_file": "boundary_ef5de532f8b8442d844618febcc8634c_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "fb48040518ba0d6f598acfe139889bcf73af4a38a7f3c65e79dd141fe49f38d5",
|
| 39 |
+
"optimizer_sha256": "2c076998c08d4139274b46448817cd36f915de7f207bc104c128d6e05ce08f84",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 411,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69048,
|
| 45 |
+
"adam_update_count": 69048,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 412,
|
| 49 |
+
"consumed_count": 411,
|
| 50 |
+
"last_submitted_update": 69048,
|
| 51 |
+
"last_consumed_update": 68880,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69048,
|
| 56 |
+
"completed_passes": 411,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69048,
|
| 59 |
+
"snapshot": "pass_end_0411",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 411,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69048,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69048,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0017137170070782304,
|
| 83 |
+
"update_l2": 0.06319698691368103
|
| 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": 1.6691912605892867e-05,
|
| 95 |
+
"update_l2": 0.0022463465575128794
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10659126734788463,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 24994,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10659126734788463,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03366177901625633,
|
| 129 |
+
"ssim_fused": 0.8936317563056946,
|
| 130 |
+
"seg_l1": 0.04637766256928444,
|
| 131 |
+
"seg_ssim_ref": 0.8936305046081543,
|
| 132 |
+
"depth": 0.012164772105672616,
|
| 133 |
+
"rgb_loss": 0.04820306971669197,
|
| 134 |
+
"seg_loss": 0.05837602913379669,
|
| 135 |
+
"total": 0.10659126734788463
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05145582556724548,
|
| 141 |
+
"ssim_fused": 0.875643789768219,
|
| 142 |
+
"seg_l1": 0.06156933680176735,
|
| 143 |
+
"seg_ssim_ref": 0.8756431937217712,
|
| 144 |
+
"depth": 0.019287424945631064,
|
| 145 |
+
"rgb_loss": 0.06603590399026871,
|
| 146 |
+
"seg_loss": 0.07412683218717575,
|
| 147 |
+
"total": 0.1401820236023901,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019287424945631064,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.01379720142132551
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038454532623291016,
|
| 174 |
+
"ssim_fused": 0.8775904178619385,
|
| 175 |
+
"seg_l1": 0.06262688338756561,
|
| 176 |
+
"seg_ssim_ref": 0.8775889873504639,
|
| 177 |
+
"depth": 0.014211847583743381,
|
| 178 |
+
"rgb_loss": 0.055245541036129,
|
| 179 |
+
"seg_loss": 0.07458370923995972,
|
| 180 |
+
"total": 0.12984346957425305,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014211847583743381,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011117577835479493
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02540208026766777,
|
| 207 |
+
"ssim_fused": 0.9084905982017517,
|
| 208 |
+
"seg_l1": 0.03725845739245415,
|
| 209 |
+
"seg_ssim_ref": 0.9084892868995667,
|
| 210 |
+
"depth": 0.009811187827972074,
|
| 211 |
+
"rgb_loss": 0.038623545318841934,
|
| 212 |
+
"seg_loss": 0.04810890927910805,
|
| 213 |
+
"total": 0.08674226578577796,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009811187827972074,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008523173505055407
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01933467388153076,
|
| 240 |
+
"ssim_fused": 0.9128022193908691,
|
| 241 |
+
"seg_l1": 0.02405596897006035,
|
| 242 |
+
"seg_ssim_ref": 0.9128005504608154,
|
| 243 |
+
"depth": 0.0053486280653439475,
|
| 244 |
+
"rgb_loss": 0.03290729597210884,
|
| 245 |
+
"seg_loss": 0.03668466582894325,
|
| 246 |
+
"total": 0.06959731042911743,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0053486280653439475,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005348628065343947
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 411,
|
| 281 |
+
"adam_update_count": 69048
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24447419890202582
|
| 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_ef5de532f8b8442d844618febcc8634c_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 412,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69049,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 411,
|
| 300 |
+
"trained_intervals": 69048,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69048,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.407993793487549,
|
| 333 |
+
"median": 11.385751724243164,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.1652028560638428,
|
| 354 |
+
"median": 8.998668670654297,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006063860491849482,
|
| 361 |
+
"median": 88058.0703125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11472666263580322,
|
| 382 |
+
"median": 8137.5859375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 24994,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0412.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_0412",
|
| 5 |
+
"executed_epochs": 412,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_18db127087f04ee3b0d920e808e9c9df.npz",
|
| 37 |
+
"optimizer_file": "boundary_18db127087f04ee3b0d920e808e9c9df_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "cb91b604664a01d13e7c197d9ad0f40b91a9ec821eb2a8bbbce4783a3e576726",
|
| 39 |
+
"optimizer_sha256": "409144ffbf4f181616bdd123fea75ed28db73e023f677f63ffcd8e9aa13edda4",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 412,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69216,
|
| 45 |
+
"adam_update_count": 69216,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 413,
|
| 49 |
+
"consumed_count": 412,
|
| 50 |
+
"last_submitted_update": 69216,
|
| 51 |
+
"last_consumed_update": 69048,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69216,
|
| 56 |
+
"completed_passes": 412,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69216,
|
| 59 |
+
"snapshot": "pass_end_0412",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 412,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69216,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69216,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00013844914792571217,
|
| 83 |
+
"update_l2": 0.049188148230314255
|
| 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": 2.3089194655767642e-05,
|
| 95 |
+
"update_l2": 0.0024595835711807013
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10605346485475707,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25001,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 118 |
+
"ground_restitution/clamp_changed": 1,
|
| 119 |
+
"ground_friction/contact_active": 1,
|
| 120 |
+
"ground_restitution/contact_active": 1
|
| 121 |
+
},
|
| 122 |
+
"photometric_transition": {
|
| 123 |
+
"transition_index": 167,
|
| 124 |
+
"loss": 0.10605346485475707,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03357861936092377,
|
| 129 |
+
"ssim_fused": 0.8943255543708801,
|
| 130 |
+
"seg_l1": 0.04613523185253143,
|
| 131 |
+
"seg_ssim_ref": 0.8943242430686951,
|
| 132 |
+
"depth": 0.012333313624155545,
|
| 133 |
+
"rgb_loss": 0.047997795045375824,
|
| 134 |
+
"seg_loss": 0.05804333835840225,
|
| 135 |
+
"total": 0.10605346485475707
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05168381705880165,
|
| 141 |
+
"ssim_fused": 0.8752886056900024,
|
| 142 |
+
"seg_l1": 0.06145796924829483,
|
| 143 |
+
"seg_ssim_ref": 0.8752880096435547,
|
| 144 |
+
"depth": 0.019348865379875187,
|
| 145 |
+
"rgb_loss": 0.06628933548927307,
|
| 146 |
+
"seg_loss": 0.0741087794303894,
|
| 147 |
+
"total": 0.14041746378504236,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019348865379875187,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013858641855569636
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038340918719768524,
|
| 174 |
+
"ssim_fused": 0.877974808216095,
|
| 175 |
+
"seg_l1": 0.06240183487534523,
|
| 176 |
+
"seg_ssim_ref": 0.8779732584953308,
|
| 177 |
+
"depth": 0.014439771243212229,
|
| 178 |
+
"rgb_loss": 0.055077772587537766,
|
| 179 |
+
"seg_loss": 0.07432681322097778,
|
| 180 |
+
"total": 0.12941902930504906,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014439771243212229,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01134550149494834
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02517484501004219,
|
| 207 |
+
"ssim_fused": 0.90959632396698,
|
| 208 |
+
"seg_l1": 0.036905646324157715,
|
| 209 |
+
"seg_ssim_ref": 0.9095950722694397,
|
| 210 |
+
"depth": 0.010000447646272627,
|
| 211 |
+
"rgb_loss": 0.038220614194869995,
|
| 212 |
+
"seg_loss": 0.04760550335049629,
|
| 213 |
+
"total": 0.08583611426772227,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010000447646272627,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00871243332335596
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019114891067147255,
|
| 240 |
+
"ssim_fused": 0.9144423007965088,
|
| 241 |
+
"seg_l1": 0.023775475099682808,
|
| 242 |
+
"seg_ssim_ref": 0.9144406318664551,
|
| 243 |
+
"depth": 0.005544170227262141,
|
| 244 |
+
"rgb_loss": 0.032403454184532166,
|
| 245 |
+
"seg_loss": 0.03613225370645523,
|
| 246 |
+
"total": 0.06854125206121466,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005544170227262141,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005544170227262139
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 412,
|
| 281 |
+
"adam_update_count": 69216
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2496242991182953
|
| 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_18db127087f04ee3b0d920e808e9c9df_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 413,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69217,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 412,
|
| 300 |
+
"trained_intervals": 69216,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69216,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.41379451751709,
|
| 333 |
+
"median": 11.401260375976562,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.1772964000701904,
|
| 354 |
+
"median": 8.995509147644043,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006028786883689463,
|
| 361 |
+
"median": 89434.375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11334756016731262,
|
| 382 |
+
"median": 8104.76171875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25001,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0413.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_0413",
|
| 5 |
+
"executed_epochs": 413,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_ecc378f824f74e6aaa9e5cd16dca9ebf.npz",
|
| 37 |
+
"optimizer_file": "boundary_ecc378f824f74e6aaa9e5cd16dca9ebf_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "d173a5eeab41fde54db61db65df71212aa8dd50fe63c050bb2a08cadbab10687",
|
| 39 |
+
"optimizer_sha256": "a173442765cf8ffa5ba40825a145c2b2078dad9ec272f7a4433b83ac6cb9ccee",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 413,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69384,
|
| 45 |
+
"adam_update_count": 69384,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 414,
|
| 49 |
+
"consumed_count": 413,
|
| 50 |
+
"last_submitted_update": 69384,
|
| 51 |
+
"last_consumed_update": 69216,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69384,
|
| 56 |
+
"completed_passes": 413,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69384,
|
| 59 |
+
"snapshot": "pass_end_0413",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 413,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69384,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69384,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001644775620661676,
|
| 83 |
+
"update_l2": 0.050755493342876434
|
| 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": 2.430513450235594e-05,
|
| 95 |
+
"update_l2": 0.0027421372942626476
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10592787549354188,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25012,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10592787549354188,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03359363600611687,
|
| 129 |
+
"ssim_fused": 0.8944894075393677,
|
| 130 |
+
"seg_l1": 0.04604524374008179,
|
| 131 |
+
"seg_ssim_ref": 0.8944881558418274,
|
| 132 |
+
"depth": 0.012295548692851509,
|
| 133 |
+
"rgb_loss": 0.0479770302772522,
|
| 134 |
+
"seg_loss": 0.05793854594230652,
|
| 135 |
+
"total": 0.10592787549354188
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051760852336883545,
|
| 141 |
+
"ssim_fused": 0.8753368854522705,
|
| 142 |
+
"seg_l1": 0.0612528994679451,
|
| 143 |
+
"seg_ssim_ref": 0.8753362894058228,
|
| 144 |
+
"depth": 0.01922343855704543,
|
| 145 |
+
"rgb_loss": 0.06634131073951721,
|
| 146 |
+
"seg_loss": 0.07393506169319153,
|
| 147 |
+
"total": 0.14029559587126578,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01922343855704543,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013733215032739875
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03865177929401398,
|
| 174 |
+
"ssim_fused": 0.8775815367698669,
|
| 175 |
+
"seg_l1": 0.06280109286308289,
|
| 176 |
+
"seg_ssim_ref": 0.8775801062583923,
|
| 177 |
+
"depth": 0.01460652977061484,
|
| 178 |
+
"rgb_loss": 0.05540511757135391,
|
| 179 |
+
"seg_loss": 0.07472485303878784,
|
| 180 |
+
"total": 0.13014456968933177,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01460652977061484,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01151226002235095
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.024923553690314293,
|
| 207 |
+
"ssim_fused": 0.9105023145675659,
|
| 208 |
+
"seg_l1": 0.036461517214775085,
|
| 209 |
+
"seg_ssim_ref": 0.9105011224746704,
|
| 210 |
+
"depth": 0.009821432221912419,
|
| 211 |
+
"rgb_loss": 0.03783838078379631,
|
| 212 |
+
"seg_loss": 0.047068990767002106,
|
| 213 |
+
"total": 0.08491718925773004,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009821432221912419,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00853341789899575
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019038354977965355,
|
| 240 |
+
"ssim_fused": 0.9145368337631226,
|
| 241 |
+
"seg_l1": 0.023665450513362885,
|
| 242 |
+
"seg_ssim_ref": 0.9145353436470032,
|
| 243 |
+
"depth": 0.005530794221833348,
|
| 244 |
+
"rgb_loss": 0.03232331946492195,
|
| 245 |
+
"seg_loss": 0.03602529317140579,
|
| 246 |
+
"total": 0.06835414715583987,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005530794221833348,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005530794221833348
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 413,
|
| 281 |
+
"adam_update_count": 69384
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24646003195084631
|
| 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_ecc378f824f74e6aaa9e5cd16dca9ebf_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 414,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69385,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 413,
|
| 300 |
+
"trained_intervals": 69384,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69384,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.41595458984375,
|
| 333 |
+
"median": 11.408940315246582,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.189148187637329,
|
| 354 |
+
"median": 8.99627685546875,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0006015778053551912,
|
| 361 |
+
"median": 90123.8671875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11201211810112,
|
| 382 |
+
"median": 8102.80078125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25012,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0414.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_0414",
|
| 5 |
+
"executed_epochs": 414,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_ea63da9c5e304cd088cbc1bb79ea4285.npz",
|
| 37 |
+
"optimizer_file": "boundary_ea63da9c5e304cd088cbc1bb79ea4285_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "675ac939ad7285a93c0aff144ee94597256309f6e5d54f28db8a28b6fe11ed2f",
|
| 39 |
+
"optimizer_sha256": "9f71c9cad9273490a1c12d7db40590e60c05e13b51fcc290ec614120a0aece60",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 414,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69552,
|
| 45 |
+
"adam_update_count": 69552,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 415,
|
| 49 |
+
"consumed_count": 414,
|
| 50 |
+
"last_submitted_update": 69552,
|
| 51 |
+
"last_consumed_update": 69384,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69552,
|
| 56 |
+
"completed_passes": 414,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69552,
|
| 59 |
+
"snapshot": "pass_end_0414",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 414,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69552,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69552,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00022261154663283378,
|
| 83 |
+
"update_l2": 0.0568765364587307
|
| 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": 2.5913541321642697e-05,
|
| 95 |
+
"update_l2": 0.0027531704399734735
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10630272082478388,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25020,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10630272082478388,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03364994004368782,
|
| 129 |
+
"ssim_fused": 0.8941259980201721,
|
| 130 |
+
"seg_l1": 0.04627568647265434,
|
| 131 |
+
"seg_ssim_ref": 0.8941247463226318,
|
| 132 |
+
"depth": 0.012359912103253655,
|
| 133 |
+
"rgb_loss": 0.04809475690126419,
|
| 134 |
+
"seg_loss": 0.05819559842348099,
|
| 135 |
+
"total": 0.10630272082478388
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05169112980365753,
|
| 141 |
+
"ssim_fused": 0.8753190040588379,
|
| 142 |
+
"seg_l1": 0.061574019491672516,
|
| 143 |
+
"seg_ssim_ref": 0.8753184676170349,
|
| 144 |
+
"depth": 0.019382240590666965,
|
| 145 |
+
"rgb_loss": 0.06628910452127457,
|
| 146 |
+
"seg_loss": 0.07419551908969879,
|
| 147 |
+
"total": 0.14050401330214463,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019382240590666965,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013892017066361409
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03829141706228256,
|
| 174 |
+
"ssim_fused": 0.8781275153160095,
|
| 175 |
+
"seg_l1": 0.06234458088874817,
|
| 176 |
+
"seg_ssim_ref": 0.8781259059906006,
|
| 177 |
+
"depth": 0.014432060773814252,
|
| 178 |
+
"rgb_loss": 0.055007632821798325,
|
| 179 |
+
"seg_loss": 0.0742504820227623,
|
| 180 |
+
"total": 0.12927254318004414,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014432060773814252,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011337791025550364
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025376252830028534,
|
| 207 |
+
"ssim_fused": 0.9089010953903198,
|
| 208 |
+
"seg_l1": 0.037206001579761505,
|
| 209 |
+
"seg_ssim_ref": 0.9088998436927795,
|
| 210 |
+
"depth": 0.010043878985980215,
|
| 211 |
+
"rgb_loss": 0.03852078318595886,
|
| 212 |
+
"seg_loss": 0.047984831035137177,
|
| 213 |
+
"total": 0.08651565810008202,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010043878985980215,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008755864663063549
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019240958616137505,
|
| 240 |
+
"ssim_fused": 0.9141562581062317,
|
| 241 |
+
"seg_l1": 0.023978140205144882,
|
| 242 |
+
"seg_ssim_ref": 0.9141547083854675,
|
| 243 |
+
"depth": 0.005581468062553193,
|
| 244 |
+
"rgb_loss": 0.032561518251895905,
|
| 245 |
+
"seg_loss": 0.03635156899690628,
|
| 246 |
+
"total": 0.06891866871686474,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005581468062553193,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005581468062553193
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 414,
|
| 281 |
+
"adam_update_count": 69552
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23774446500465274
|
| 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_ea63da9c5e304cd088cbc1bb79ea4285_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 415,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69553,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 414,
|
| 300 |
+
"trained_intervals": 69552,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69552,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.420210361480713,
|
| 333 |
+
"median": 11.420332908630371,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.19946551322937,
|
| 354 |
+
"median": 8.983427047729492,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005990231293253601,
|
| 361 |
+
"median": 91156.484375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.11086239665746689,
|
| 382 |
+
"median": 8000.0263671875,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25020,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0415.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_0415",
|
| 5 |
+
"executed_epochs": 415,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_2fb3fdca62754aa2b78a28b8c02d086c.npz",
|
| 37 |
+
"optimizer_file": "boundary_2fb3fdca62754aa2b78a28b8c02d086c_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "7114393cf7e4b3106f529b55faa474d28dde6e2d995cb615f98beee8de9b28e3",
|
| 39 |
+
"optimizer_sha256": "df82a270900dfb1f58beb26fb28e94d9cbced84eb6cf454d3f4b1cb0ae52b183",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 415,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69720,
|
| 45 |
+
"adam_update_count": 69720,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 416,
|
| 49 |
+
"consumed_count": 415,
|
| 50 |
+
"last_submitted_update": 69720,
|
| 51 |
+
"last_consumed_update": 69552,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69720,
|
| 56 |
+
"completed_passes": 415,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69720,
|
| 59 |
+
"snapshot": "pass_end_0415",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 415,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69720,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69720,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00015410991909448057,
|
| 83 |
+
"update_l2": 0.055269189178943634
|
| 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": 2.553268313931767e-05,
|
| 95 |
+
"update_l2": 0.002543648239225149
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1060576508504115,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25033,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1060576508504115,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.0335189588367939,
|
| 129 |
+
"ssim_fused": 0.8940210342407227,
|
| 130 |
+
"seg_l1": 0.04604809731245041,
|
| 131 |
+
"seg_ssim_ref": 0.8940197825431824,
|
| 132 |
+
"depth": 0.012183071371168998,
|
| 133 |
+
"rgb_loss": 0.04801096022129059,
|
| 134 |
+
"seg_loss": 0.0580345094203949,
|
| 135 |
+
"total": 0.1060576508504115
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05156000331044197,
|
| 141 |
+
"ssim_fused": 0.8752304911613464,
|
| 142 |
+
"seg_l1": 0.0614171102643013,
|
| 143 |
+
"seg_ssim_ref": 0.8752298355102539,
|
| 144 |
+
"depth": 0.019334923180737276,
|
| 145 |
+
"rgb_loss": 0.06620191037654877,
|
| 146 |
+
"seg_loss": 0.0740877240896225,
|
| 147 |
+
"total": 0.140308969389352,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019334923180737276,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013844699656431717
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03826328366994858,
|
| 174 |
+
"ssim_fused": 0.8775905966758728,
|
| 175 |
+
"seg_l1": 0.06227346882224083,
|
| 176 |
+
"seg_ssim_ref": 0.8775890469551086,
|
| 177 |
+
"depth": 0.014190172525710013,
|
| 178 |
+
"rgb_loss": 0.05509250611066818,
|
| 179 |
+
"seg_loss": 0.07430096715688705,
|
| 180 |
+
"total": 0.12940766344008095,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014190172525710013,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011095902777446124
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02518933080136776,
|
| 207 |
+
"ssim_fused": 0.909246027469635,
|
| 208 |
+
"seg_l1": 0.03691069409251213,
|
| 209 |
+
"seg_ssim_ref": 0.9092448949813843,
|
| 210 |
+
"depth": 0.009822833077942229,
|
| 211 |
+
"rgb_loss": 0.038302257657051086,
|
| 212 |
+
"seg_loss": 0.04767957702279091,
|
| 213 |
+
"total": 0.08599165378762964,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009822833077942229,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008534818755025562
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01906321570277214,
|
| 240 |
+
"ssim_fused": 0.9140170812606812,
|
| 241 |
+
"seg_l1": 0.023591112345457077,
|
| 242 |
+
"seg_ssim_ref": 0.9140155911445618,
|
| 243 |
+
"depth": 0.005384356700286476,
|
| 244 |
+
"rgb_loss": 0.03244715929031372,
|
| 245 |
+
"seg_loss": 0.03606977313756943,
|
| 246 |
+
"total": 0.06852231678458344,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005384356700286476,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005384356700286476
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 415,
|
| 281 |
+
"adam_update_count": 69720
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23791897599585354
|
| 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_2fb3fdca62754aa2b78a28b8c02d086c_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 416,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69721,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 415,
|
| 300 |
+
"trained_intervals": 69720,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69720,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.423778057098389,
|
| 333 |
+
"median": 11.42758560180664,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2106337547302246,
|
| 354 |
+
"median": 8.978475570678711,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005968898185528815,
|
| 361 |
+
"median": 91820.015625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10963115096092224,
|
| 382 |
+
"median": 7953.76416015625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25033,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0416.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_0416",
|
| 5 |
+
"executed_epochs": 416,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_01d36a39238f453da7e256c1fe113790.npz",
|
| 37 |
+
"optimizer_file": "boundary_01d36a39238f453da7e256c1fe113790_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "9b00d835c6e038695968c2f701d14e13c5547cd62f9c7ff8643301665a94c3f4",
|
| 39 |
+
"optimizer_sha256": "40696d08d1ee6dc6cd859fa6d580322829582440176837bdb5d32abca5fe763f",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 416,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 69888,
|
| 45 |
+
"adam_update_count": 69888,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 417,
|
| 49 |
+
"consumed_count": 416,
|
| 50 |
+
"last_submitted_update": 69888,
|
| 51 |
+
"last_consumed_update": 69720,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 69888,
|
| 56 |
+
"completed_passes": 416,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 69888,
|
| 59 |
+
"snapshot": "pass_end_0416",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 416,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 69888,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 69888,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0005338953924365342,
|
| 83 |
+
"update_l2": 0.059938736259937286
|
| 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": 2.468842467351351e-05,
|
| 95 |
+
"update_l2": 0.0032048597931861877
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10591604528826229,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25040,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10591604528826229,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03356220945715904,
|
| 129 |
+
"ssim_fused": 0.8944196105003357,
|
| 130 |
+
"seg_l1": 0.046027109026908875,
|
| 131 |
+
"seg_ssim_ref": 0.8944184184074402,
|
| 132 |
+
"depth": 0.012203733143738292,
|
| 133 |
+
"rgb_loss": 0.047965843230485916,
|
| 134 |
+
"seg_loss": 0.057937994599342346,
|
| 135 |
+
"total": 0.10591604528826229
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05174049735069275,
|
| 141 |
+
"ssim_fused": 0.8751553297042847,
|
| 142 |
+
"seg_l1": 0.06137385219335556,
|
| 143 |
+
"seg_ssim_ref": 0.8751547336578369,
|
| 144 |
+
"depth": 0.019187447516392505,
|
| 145 |
+
"rgb_loss": 0.06636133044958115,
|
| 146 |
+
"seg_loss": 0.07406813651323318,
|
| 147 |
+
"total": 0.14044865441033072,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019187447516392505,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013697223992086947
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03855717554688454,
|
| 174 |
+
"ssim_fused": 0.8775519132614136,
|
| 175 |
+
"seg_l1": 0.06267887353897095,
|
| 176 |
+
"seg_ssim_ref": 0.877550482749939,
|
| 177 |
+
"depth": 0.01439150847499854,
|
| 178 |
+
"rgb_loss": 0.055335357785224915,
|
| 179 |
+
"seg_loss": 0.07463300228118896,
|
| 180 |
+
"total": 0.12998275157488887,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01439150847499854,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01129723872673465
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.024931320920586586,
|
| 207 |
+
"ssim_fused": 0.9104745388031006,
|
| 208 |
+
"seg_l1": 0.03646655008196831,
|
| 209 |
+
"seg_ssim_ref": 0.9104732871055603,
|
| 210 |
+
"depth": 0.009768251592666945,
|
| 211 |
+
"rgb_loss": 0.03785014897584915,
|
| 212 |
+
"seg_loss": 0.047078583389520645,
|
| 213 |
+
"total": 0.08493850434225277,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009768251592666945,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00848023726975028
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019019845873117447,
|
| 240 |
+
"ssim_fused": 0.9144967198371887,
|
| 241 |
+
"seg_l1": 0.023589160293340683,
|
| 242 |
+
"seg_ssim_ref": 0.9144952893257141,
|
| 243 |
+
"depth": 0.0054677249908951725,
|
| 244 |
+
"rgb_loss": 0.032316531985998154,
|
| 245 |
+
"seg_loss": 0.035972271114587784,
|
| 246 |
+
"total": 0.06829427082557683,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0054677249908951725,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.0054677249908951725
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 416,
|
| 281 |
+
"adam_update_count": 69888
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.238907614024356
|
| 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_01d36a39238f453da7e256c1fe113790_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 417,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 69889,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 416,
|
| 300 |
+
"trained_intervals": 69888,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 69888,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.427792072296143,
|
| 333 |
+
"median": 11.441283226013184,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.222771644592285,
|
| 354 |
+
"median": 8.977006912231445,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005944986478425562,
|
| 361 |
+
"median": 93086.390625,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10830850899219513,
|
| 382 |
+
"median": 7932.4423828125,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25040,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0417.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_0417",
|
| 5 |
+
"executed_epochs": 417,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08789042488974609,
|
| 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_6ff601f6a6514eacaca441d137d98b5b.npz",
|
| 37 |
+
"optimizer_file": "boundary_6ff601f6a6514eacaca441d137d98b5b_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "7d05e3763cee35b220c4b5d202227fe10816439d2ee0450b54b5efcf3df6ba26",
|
| 39 |
+
"optimizer_sha256": "a2706a961c063222bac0ea5f744677b673ede4eb4d91ce738ed9cf328b9e559f",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 417,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70056,
|
| 45 |
+
"adam_update_count": 70056,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 418,
|
| 49 |
+
"consumed_count": 417,
|
| 50 |
+
"last_submitted_update": 70056,
|
| 51 |
+
"last_consumed_update": 69888,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70056,
|
| 56 |
+
"completed_passes": 417,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70056,
|
| 59 |
+
"snapshot": "pass_end_0417",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 68376,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 417,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70056,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70056,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00015689966676291078,
|
| 83 |
+
"update_l2": 0.060500890016555786
|
| 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": 2.395270530541893e-05,
|
| 95 |
+
"update_l2": 0.0029069390147924423
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10668903284398482,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25048,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10668903284398482,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03377277031540871,
|
| 129 |
+
"ssim_fused": 0.8937579393386841,
|
| 130 |
+
"seg_l1": 0.046451736241579056,
|
| 131 |
+
"seg_ssim_ref": 0.8937567472457886,
|
| 132 |
+
"depth": 0.012372365869729772,
|
| 133 |
+
"rgb_loss": 0.04826662316918373,
|
| 134 |
+
"seg_loss": 0.05841003358364105,
|
| 135 |
+
"total": 0.10668903284398482
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05172903463244438,
|
| 141 |
+
"ssim_fused": 0.8753185272216797,
|
| 142 |
+
"seg_l1": 0.061463624238967896,
|
| 143 |
+
"seg_ssim_ref": 0.8753179907798767,
|
| 144 |
+
"depth": 0.01933988726104105,
|
| 145 |
+
"rgb_loss": 0.0663195252418518,
|
| 146 |
+
"seg_loss": 0.07410730421543121,
|
| 147 |
+
"total": 0.14044616934454407,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01933988726104105,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013849663736735497
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03864488750696182,
|
| 174 |
+
"ssim_fused": 0.8776054978370667,
|
| 175 |
+
"seg_l1": 0.06289658695459366,
|
| 176 |
+
"seg_ssim_ref": 0.877604067325592,
|
| 177 |
+
"depth": 0.014617564953536622,
|
| 178 |
+
"rgb_loss": 0.05539481341838837,
|
| 179 |
+
"seg_loss": 0.07479645311832428,
|
| 180 |
+
"total": 0.13020588410166617,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014617564953536622,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011523295205272734
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025344690307974815,
|
| 207 |
+
"ssim_fused": 0.9084551334381104,
|
| 208 |
+
"seg_l1": 0.037181295454502106,
|
| 209 |
+
"seg_ssim_ref": 0.9084537625312805,
|
| 210 |
+
"depth": 0.00995967810169949,
|
| 211 |
+
"rgb_loss": 0.03858472406864166,
|
| 212 |
+
"seg_loss": 0.0480542853474617,
|
| 213 |
+
"total": 0.08664896909420507,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00995967810169949,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.00867166377878282
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019372468814253807,
|
| 240 |
+
"ssim_fused": 0.9136527180671692,
|
| 241 |
+
"seg_l1": 0.024265438318252563,
|
| 242 |
+
"seg_ssim_ref": 0.9136512279510498,
|
| 243 |
+
"depth": 0.005572333162641929,
|
| 244 |
+
"rgb_loss": 0.03276742994785309,
|
| 245 |
+
"seg_loss": 0.03668210655450821,
|
| 246 |
+
"total": 0.06945510883552394,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005572333162641929,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005572333162641929
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 417,
|
| 281 |
+
"adam_update_count": 70056
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.23807350220158696
|
| 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_6ff601f6a6514eacaca441d137d98b5b_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 418,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70057,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 417,
|
| 300 |
+
"trained_intervals": 70056,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70056,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.427761554718018,
|
| 333 |
+
"median": 11.464111328125,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2328684329986572,
|
| 354 |
+
"median": 8.9783935546875,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005945168086327612,
|
| 361 |
+
"median": 95235.8125,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10722043365240097,
|
| 382 |
+
"median": 7933.458984375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25049,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0418.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_0418",
|
| 5 |
+
"executed_epochs": 418,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08788706566728484,
|
| 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_a7a252f519d94b2b86c21ddfe01bf7df.npz",
|
| 37 |
+
"optimizer_file": "boundary_a7a252f519d94b2b86c21ddfe01bf7df_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "13e5c5a57de74cf8a703f8681998afbe4a2b9170ac1aacccfad379c0260cc44e",
|
| 39 |
+
"optimizer_sha256": "fcc95628acb2c3f8d2f1af678b5166ccc623b9eba92ab028f50fc18f1824cfb6",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 418,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70224,
|
| 45 |
+
"adam_update_count": 70224,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 419,
|
| 49 |
+
"consumed_count": 418,
|
| 50 |
+
"last_submitted_update": 70224,
|
| 51 |
+
"last_consumed_update": 70056,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70224,
|
| 56 |
+
"completed_passes": 418,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70224,
|
| 59 |
+
"snapshot": "pass_end_0418",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70056,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 418,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70224,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70224,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00013961285003460944,
|
| 83 |
+
"update_l2": 0.04885995760560036
|
| 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": 2.3055081328493543e-05,
|
| 95 |
+
"update_l2": 0.003189485752955079
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10614401445600694,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25060,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10614401445600694,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03361760452389717,
|
| 129 |
+
"ssim_fused": 0.8943308591842651,
|
| 130 |
+
"seg_l1": 0.04621211439371109,
|
| 131 |
+
"seg_ssim_ref": 0.8943296670913696,
|
| 132 |
+
"depth": 0.012337871524747138,
|
| 133 |
+
"rgb_loss": 0.04802791774272919,
|
| 134 |
+
"seg_loss": 0.058103758841753006,
|
| 135 |
+
"total": 0.10614401445600694
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05173441395163536,
|
| 141 |
+
"ssim_fused": 0.8752509951591492,
|
| 142 |
+
"seg_l1": 0.06154058873653412,
|
| 143 |
+
"seg_ssim_ref": 0.8752504587173462,
|
| 144 |
+
"depth": 0.01937545977653625,
|
| 145 |
+
"rgb_loss": 0.06633733212947845,
|
| 146 |
+
"seg_loss": 0.07418237626552582,
|
| 147 |
+
"total": 0.1405390838547808,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01937545977653625,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013885236252230695
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03843571990728378,
|
| 174 |
+
"ssim_fused": 0.8777714371681213,
|
| 175 |
+
"seg_l1": 0.06253335624933243,
|
| 176 |
+
"seg_ssim_ref": 0.8777700066566467,
|
| 177 |
+
"depth": 0.014406983127317703,
|
| 178 |
+
"rgb_loss": 0.05519428849220276,
|
| 179 |
+
"seg_loss": 0.07447268068790436,
|
| 180 |
+
"total": 0.12968137616323444,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014406983127317703,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011312713379053815
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02516331896185875,
|
| 207 |
+
"ssim_fused": 0.9098302125930786,
|
| 208 |
+
"seg_l1": 0.03692755103111267,
|
| 209 |
+
"seg_ssim_ref": 0.9098289012908936,
|
| 210 |
+
"depth": 0.010010843355886432,
|
| 211 |
+
"rgb_loss": 0.03816461190581322,
|
| 212 |
+
"seg_loss": 0.047576263546943665,
|
| 213 |
+
"total": 0.08575089002140307,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010010843355886432,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008722829032969764
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01913696900010109,
|
| 240 |
+
"ssim_fused": 0.9144706726074219,
|
| 241 |
+
"seg_l1": 0.023846950381994247,
|
| 242 |
+
"seg_ssim_ref": 0.9144692420959473,
|
| 243 |
+
"depth": 0.005558199839248168,
|
| 244 |
+
"rgb_loss": 0.032415442168712616,
|
| 245 |
+
"seg_loss": 0.036183711141347885,
|
| 246 |
+
"total": 0.06860470778460945,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005558199839248168,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005558199839248166
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 418,
|
| 281 |
+
"adam_update_count": 70224
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24127846001647413
|
| 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_a7a252f519d94b2b86c21ddfe01bf7df_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 419,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70225,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 418,
|
| 300 |
+
"trained_intervals": 70224,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70224,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.431822299957275,
|
| 333 |
+
"median": 11.470942497253418,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2440061569213867,
|
| 354 |
+
"median": 8.973337173461914,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005921075353398919,
|
| 361 |
+
"median": 95888.609375,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10603287070989609,
|
| 382 |
+
"median": 7891.58447265625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25060,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0419.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_0419",
|
| 5 |
+
"executed_epochs": 419,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08784033479550866,
|
| 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_7d7d95dafed24ccd887923bd9b1ac016.npz",
|
| 37 |
+
"optimizer_file": "boundary_7d7d95dafed24ccd887923bd9b1ac016_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "e203b7ed97d9f163c6d3136ff1e8072e67aab602f67f50c96de6dbc9329d5328",
|
| 39 |
+
"optimizer_sha256": "5ab258da846647f1277ce63d959ad21b0d93133c95dc5e4d0744b41b918e45a4",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 419,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70392,
|
| 45 |
+
"adam_update_count": 70392,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 420,
|
| 49 |
+
"consumed_count": 419,
|
| 50 |
+
"last_submitted_update": 70392,
|
| 51 |
+
"last_consumed_update": 70224,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70392,
|
| 56 |
+
"completed_passes": 419,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70392,
|
| 59 |
+
"snapshot": "pass_end_0419",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70224,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 419,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70392,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70392,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00018817809177562594,
|
| 83 |
+
"update_l2": 0.05451815575361252
|
| 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": 2.7745809347834438e-05,
|
| 95 |
+
"update_l2": 0.0028296695090830326
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10700551232311337,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25068,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10700551232311337,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033947013318538666,
|
| 129 |
+
"ssim_fused": 0.893787145614624,
|
| 130 |
+
"seg_l1": 0.04668760299682617,
|
| 131 |
+
"seg_ssim_ref": 0.893785834312439,
|
| 132 |
+
"depth": 0.012418236466353315,
|
| 133 |
+
"rgb_loss": 0.048400186002254486,
|
| 134 |
+
"seg_loss": 0.05859290808439255,
|
| 135 |
+
"total": 0.10700551232311337
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05252404138445854,
|
| 141 |
+
"ssim_fused": 0.8739783763885498,
|
| 142 |
+
"seg_l1": 0.06264606863260269,
|
| 143 |
+
"seg_ssim_ref": 0.8739778399467468,
|
| 144 |
+
"depth": 0.019520701036611444,
|
| 145 |
+
"rgb_loss": 0.06722355633974075,
|
| 146 |
+
"seg_loss": 0.07532128691673279,
|
| 147 |
+
"total": 0.14256435650692956,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019520701036611444,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.014030477512305886
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03881973400712013,
|
| 174 |
+
"ssim_fused": 0.8770082592964172,
|
| 175 |
+
"seg_l1": 0.06312010437250137,
|
| 176 |
+
"seg_ssim_ref": 0.8770066499710083,
|
| 177 |
+
"depth": 0.014549655448042324,
|
| 178 |
+
"rgb_loss": 0.0556541383266449,
|
| 179 |
+
"seg_loss": 0.07509475201368332,
|
| 180 |
+
"total": 0.13076344744635685,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014549655448042324,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011455385699778435
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02518382854759693,
|
| 207 |
+
"ssim_fused": 0.9100612998008728,
|
| 208 |
+
"seg_l1": 0.03691664710640907,
|
| 209 |
+
"seg_ssim_ref": 0.910059928894043,
|
| 210 |
+
"depth": 0.00999357176635906,
|
| 211 |
+
"rgb_loss": 0.03813480585813522,
|
| 212 |
+
"seg_loss": 0.047521330416202545,
|
| 213 |
+
"total": 0.08566612984610412,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.00999357176635906,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008705557443442391
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019260453060269356,
|
| 240 |
+
"ssim_fused": 0.9141005873680115,
|
| 241 |
+
"seg_l1": 0.024067603051662445,
|
| 242 |
+
"seg_ssim_ref": 0.9140990972518921,
|
| 243 |
+
"depth": 0.005609017614400429,
|
| 244 |
+
"rgb_loss": 0.03258824348449707,
|
| 245 |
+
"seg_loss": 0.03643426299095154,
|
| 246 |
+
"total": 0.06902811549306301,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005609017614400429,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005609017614400429
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 419,
|
| 281 |
+
"adam_update_count": 70392
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24208240304142237
|
| 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_7d7d95dafed24ccd887923bd9b1ac016_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 420,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70393,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 419,
|
| 300 |
+
"trained_intervals": 70392,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70392,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.437767505645752,
|
| 333 |
+
"median": 11.472314834594727,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2553703784942627,
|
| 354 |
+
"median": 8.978017807006836,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005885977298021317,
|
| 361 |
+
"median": 96020.296875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10483470559120178,
|
| 382 |
+
"median": 7926.9599609375,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25068,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0420.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_0420",
|
| 5 |
+
"executed_epochs": 420,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08784033479550866,
|
| 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_acca0f930aa047ae867a4fe74c944f60.npz",
|
| 37 |
+
"optimizer_file": "boundary_acca0f930aa047ae867a4fe74c944f60_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "8980202d438633606cca147cc3469e2c442231a2cd247a256627ae2cd0f06f53",
|
| 39 |
+
"optimizer_sha256": "280aab43e1238468e95c9ff34b8b829b1fe1d257da903959355c5a159980cffe",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 420,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70560,
|
| 45 |
+
"adam_update_count": 70560,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 421,
|
| 49 |
+
"consumed_count": 420,
|
| 50 |
+
"last_submitted_update": 70560,
|
| 51 |
+
"last_consumed_update": 70392,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70560,
|
| 56 |
+
"completed_passes": 420,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70560,
|
| 59 |
+
"snapshot": "pass_end_0420",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70224,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 420,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70560,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70560,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016335395048372447,
|
| 83 |
+
"update_l2": 0.05235900357365608
|
| 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": 2.33684968407033e-05,
|
| 95 |
+
"update_l2": 0.0024147171061486006
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.1061348079822888,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25076,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.1061348079822888,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03361307084560394,
|
| 129 |
+
"ssim_fused": 0.8942452073097229,
|
| 130 |
+
"seg_l1": 0.04616237431764603,
|
| 131 |
+
"seg_ssim_ref": 0.8942439556121826,
|
| 132 |
+
"depth": 0.012288161360237573,
|
| 133 |
+
"rgb_loss": 0.04804141819477081,
|
| 134 |
+
"seg_loss": 0.05808109790086746,
|
| 135 |
+
"total": 0.1061348079822888
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05169716104865074,
|
| 141 |
+
"ssim_fused": 0.8753765821456909,
|
| 142 |
+
"seg_l1": 0.06147542968392372,
|
| 143 |
+
"seg_ssim_ref": 0.8753760457038879,
|
| 144 |
+
"depth": 0.019343302803274322,
|
| 145 |
+
"rgb_loss": 0.06628241389989853,
|
| 146 |
+
"seg_loss": 0.07410513609647751,
|
| 147 |
+
"total": 0.14040689329917933,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019343302803274322,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013853079278968767
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.0384628064930439,
|
| 174 |
+
"ssim_fused": 0.8779098987579346,
|
| 175 |
+
"seg_l1": 0.06256280094385147,
|
| 176 |
+
"seg_ssim_ref": 0.8779083490371704,
|
| 177 |
+
"depth": 0.014446967572620036,
|
| 178 |
+
"rgb_loss": 0.055188268423080444,
|
| 179 |
+
"seg_loss": 0.07446856796741486,
|
| 180 |
+
"total": 0.1296712833580679,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014446967572620036,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011352697824356146
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025108393281698227,
|
| 207 |
+
"ssim_fused": 0.9094804525375366,
|
| 208 |
+
"seg_l1": 0.03675141558051109,
|
| 209 |
+
"seg_ssim_ref": 0.9094792604446411,
|
| 210 |
+
"depth": 0.009835414704398719,
|
| 211 |
+
"rgb_loss": 0.03819062560796738,
|
| 212 |
+
"seg_loss": 0.04750528186559677,
|
| 213 |
+
"total": 0.08570574288826854,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009835414704398719,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008547400381482051
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019183924421668053,
|
| 240 |
+
"ssim_fused": 0.9142138361930847,
|
| 241 |
+
"seg_l1": 0.023859847337007523,
|
| 242 |
+
"seg_ssim_ref": 0.9142123460769653,
|
| 243 |
+
"depth": 0.005526960360657217,
|
| 244 |
+
"rgb_loss": 0.0325043722987175,
|
| 245 |
+
"seg_loss": 0.03624540939927101,
|
| 246 |
+
"total": 0.06875531238363947,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005526960360657217,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005526960360657217
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 420,
|
| 281 |
+
"adam_update_count": 70560
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24070664821192622
|
| 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_acca0f930aa047ae867a4fe74c944f60_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 421,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70561,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 420,
|
| 300 |
+
"trained_intervals": 70560,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70560,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.44285774230957,
|
| 333 |
+
"median": 11.488266944885254,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2644453048706055,
|
| 354 |
+
"median": 8.959760665893555,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005856092902831733,
|
| 361 |
+
"median": 97564.296875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.103887639939785,
|
| 382 |
+
"median": 7783.7587890625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25076,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0421.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_0421",
|
| 5 |
+
"executed_epochs": 421,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08784033479550866,
|
| 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_de0c62bc7e0a4129a2cc6b6c1d013af4.npz",
|
| 37 |
+
"optimizer_file": "boundary_de0c62bc7e0a4129a2cc6b6c1d013af4_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "22c1fbda7853ad2c15efa973523008c2fdd6a31ae83bb3928f3ed8793b15f897",
|
| 39 |
+
"optimizer_sha256": "ee91555f43cbc1446c8dae958b49491d3187c560bf0066c2dd82fbf00588f0e2",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 421,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70728,
|
| 45 |
+
"adam_update_count": 70728,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 422,
|
| 49 |
+
"consumed_count": 421,
|
| 50 |
+
"last_submitted_update": 70728,
|
| 51 |
+
"last_consumed_update": 70560,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70728,
|
| 56 |
+
"completed_passes": 421,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70728,
|
| 59 |
+
"snapshot": "pass_end_0421",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70224,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 421,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70728,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70728,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00025996548356488347,
|
| 83 |
+
"update_l2": 0.059645406901836395
|
| 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": 2.819821565935854e-05,
|
| 95 |
+
"update_l2": 0.002780209993943572
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10702506616979754,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25083,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10702506616979754,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.033899251371622086,
|
| 129 |
+
"ssim_fused": 0.8934865593910217,
|
| 130 |
+
"seg_l1": 0.04660961031913757,
|
| 131 |
+
"seg_ssim_ref": 0.8934853076934814,
|
| 132 |
+
"depth": 0.01235842972910672,
|
| 133 |
+
"rgb_loss": 0.048422086983919144,
|
| 134 |
+
"seg_loss": 0.05859062075614929,
|
| 135 |
+
"total": 0.10702506616979754
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.052494388073682785,
|
| 141 |
+
"ssim_fused": 0.8737640976905823,
|
| 142 |
+
"seg_l1": 0.06276623159646988,
|
| 143 |
+
"seg_ssim_ref": 0.873763382434845,
|
| 144 |
+
"depth": 0.019546559636597523,
|
| 145 |
+
"rgb_loss": 0.06724268943071365,
|
| 146 |
+
"seg_loss": 0.07546031475067139,
|
| 147 |
+
"total": 0.14272254329044104,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019546559636597523,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.014056336112291965
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03877058997750282,
|
| 174 |
+
"ssim_fused": 0.8764514327049255,
|
| 175 |
+
"seg_l1": 0.06302955001592636,
|
| 176 |
+
"seg_ssim_ref": 0.8764500021934509,
|
| 177 |
+
"depth": 0.014459352190413048,
|
| 178 |
+
"rgb_loss": 0.05572618544101715,
|
| 179 |
+
"seg_loss": 0.07513363659381866,
|
| 180 |
+
"total": 0.13087428138702623,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014459352190413048,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.01136508244214916
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.025156501680612564,
|
| 207 |
+
"ssim_fused": 0.9099290370941162,
|
| 208 |
+
"seg_l1": 0.03685983642935753,
|
| 209 |
+
"seg_ssim_ref": 0.9099278450012207,
|
| 210 |
+
"depth": 0.009979140441160545,
|
| 211 |
+
"rgb_loss": 0.03813939541578293,
|
| 212 |
+
"seg_loss": 0.047502301633358,
|
| 213 |
+
"total": 0.0856516761895821,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.009979140441160545,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008691126118243879
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019175535067915916,
|
| 240 |
+
"ssim_fused": 0.9138017296791077,
|
| 241 |
+
"seg_l1": 0.023782821372151375,
|
| 242 |
+
"seg_ssim_ref": 0.9138001203536987,
|
| 243 |
+
"depth": 0.0054486666482557655,
|
| 244 |
+
"rgb_loss": 0.03258008137345314,
|
| 245 |
+
"seg_loss": 0.03626623377203941,
|
| 246 |
+
"total": 0.06885176381214081,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.0054486666482557655,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005448666648255765
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 421,
|
| 281 |
+
"adam_update_count": 70728
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.24375231307931244
|
| 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_de0c62bc7e0a4129a2cc6b6c1d013af4_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 422,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70729,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 421,
|
| 300 |
+
"trained_intervals": 70728,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70728,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.4470977783203125,
|
| 333 |
+
"median": 11.50273609161377,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2749733924865723,
|
| 354 |
+
"median": 8.967975616455078,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005831315065734088,
|
| 361 |
+
"median": 98986.2421875,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 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": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10279963910579681,
|
| 382 |
+
"median": 7848.9775390625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25083,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0422.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_0422",
|
| 5 |
+
"executed_epochs": 422,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08784033479550866,
|
| 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_9fe3a70cc6764af786f2cc8ac4d3fb42.npz",
|
| 37 |
+
"optimizer_file": "boundary_9fe3a70cc6764af786f2cc8ac4d3fb42_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "7c5e63d74c354bada13fd710ec4b030d937185a9612b9905961dd543b635b6fa",
|
| 39 |
+
"optimizer_sha256": "db41deecfcb7667b9a7a9a4d9876ce7b5e14d8e104c17a7d63d6fb21ef814c71",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 422,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 70896,
|
| 45 |
+
"adam_update_count": 70896,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 423,
|
| 49 |
+
"consumed_count": 422,
|
| 50 |
+
"last_submitted_update": 70896,
|
| 51 |
+
"last_consumed_update": 70728,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 70896,
|
| 56 |
+
"completed_passes": 422,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 70896,
|
| 59 |
+
"snapshot": "pass_end_0422",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70224,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 422,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 70896,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 70896,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.00016208623128477484,
|
| 83 |
+
"update_l2": 0.061698269098997116
|
| 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": 2.2685262592858635e-05,
|
| 95 |
+
"update_l2": 0.002345020417124033
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10659824222514125,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25089,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10659824222514125,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03371720388531685,
|
| 129 |
+
"ssim_fused": 0.8938187956809998,
|
| 130 |
+
"seg_l1": 0.04642422869801521,
|
| 131 |
+
"seg_ssim_ref": 0.8938175439834595,
|
| 132 |
+
"depth": 0.012378247470590093,
|
| 133 |
+
"rgb_loss": 0.04820999503135681,
|
| 134 |
+
"seg_loss": 0.05837586522102356,
|
| 135 |
+
"total": 0.10659824222514125
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.05157479643821716,
|
| 141 |
+
"ssim_fused": 0.8755600452423096,
|
| 142 |
+
"seg_l1": 0.061357755213975906,
|
| 143 |
+
"seg_ssim_ref": 0.8755595088005066,
|
| 144 |
+
"depth": 0.01932309812373068,
|
| 145 |
+
"rgb_loss": 0.0661478266119957,
|
| 146 |
+
"seg_loss": 0.07397430390119553,
|
| 147 |
+
"total": 0.14014145361131494,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.01932309812373068,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013832874599425123
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.038539547473192215,
|
| 174 |
+
"ssim_fused": 0.8777446746826172,
|
| 175 |
+
"seg_l1": 0.06273960322141647,
|
| 176 |
+
"seg_ssim_ref": 0.877743124961853,
|
| 177 |
+
"depth": 0.014540499659325256,
|
| 178 |
+
"rgb_loss": 0.055282704532146454,
|
| 179 |
+
"seg_loss": 0.07464306056499481,
|
| 180 |
+
"total": 0.12994029814622,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.014540499659325256,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011446229911061366
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02532174624502659,
|
| 207 |
+
"ssim_fused": 0.9084792733192444,
|
| 208 |
+
"seg_l1": 0.03723205626010895,
|
| 209 |
+
"seg_ssim_ref": 0.9084779024124146,
|
| 210 |
+
"depth": 0.01000358978283902,
|
| 211 |
+
"rgb_loss": 0.038561541587114334,
|
| 212 |
+
"seg_loss": 0.04809006676077843,
|
| 213 |
+
"total": 0.0866616119376756,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.01000358978283902,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008715575459922353
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.01943272538483143,
|
| 240 |
+
"ssim_fused": 0.9134913086891174,
|
| 241 |
+
"seg_l1": 0.02436749078333378,
|
| 242 |
+
"seg_ssim_ref": 0.9134897589683533,
|
| 243 |
+
"depth": 0.005645802316465416,
|
| 244 |
+
"rgb_loss": 0.032847918570041656,
|
| 245 |
+
"seg_loss": 0.03679604083299637,
|
| 246 |
+
"total": 0.06964960520535449,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005645802316465416,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.005645802316465416
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 422,
|
| 281 |
+
"adam_update_count": 70896
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.2423433877993375
|
| 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_9fe3a70cc6764af786f2cc8ac4d3fb42_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 423,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 70897,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 422,
|
| 300 |
+
"trained_intervals": 70896,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 70896,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.450587272644043,
|
| 333 |
+
"median": 11.51293659210205,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2844972610473633,
|
| 354 |
+
"median": 8.972692489624023,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005811002920381725,
|
| 361 |
+
"median": 100000.0,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 371 |
+
"nonfinite_count": 0
|
| 372 |
+
},
|
| 373 |
+
"object_edge_cap_mask": {
|
| 374 |
+
"min": 0.0,
|
| 375 |
+
"median": 1.0,
|
| 376 |
+
"max": 1.0,
|
| 377 |
+
"finite_count": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10182524472475052,
|
| 382 |
+
"median": 7887.6259765625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25090,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|
processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0423.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_0423",
|
| 5 |
+
"executed_epochs": 423,
|
| 6 |
+
"score": null,
|
| 7 |
+
"best_score": 0.08784033479550866,
|
| 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_ec6304ec5a3b4968924a1c71d68a4ed7.npz",
|
| 37 |
+
"optimizer_file": "boundary_ec6304ec5a3b4968924a1c71d68a4ed7_optimizer.pt",
|
| 38 |
+
"arrays_sha256": "2fa9faaee8d8cb753605136dbc2e0cb2fb49ccfc59092d1319515ae411530d3a",
|
| 39 |
+
"optimizer_sha256": "a17d04bc16c0ed695c8b7bd4f86312538f1b3ef46bf292ffcd770992b3747ad1",
|
| 40 |
+
"stage": "adam",
|
| 41 |
+
"completed_passes": 423,
|
| 42 |
+
"score_status": "unscored",
|
| 43 |
+
"adam_transition_batch_size": 1,
|
| 44 |
+
"cumulative_optimizer_updates": 71064,
|
| 45 |
+
"adam_update_count": 71064,
|
| 46 |
+
"score_selection_progress": {
|
| 47 |
+
"queue": "pass_snapshot_references_v2",
|
| 48 |
+
"submitted_count": 424,
|
| 49 |
+
"consumed_count": 423,
|
| 50 |
+
"last_submitted_update": 71064,
|
| 51 |
+
"last_consumed_update": 70896,
|
| 52 |
+
"pending": [
|
| 53 |
+
{
|
| 54 |
+
"reference": {
|
| 55 |
+
"source_update": 71064,
|
| 56 |
+
"completed_passes": 423,
|
| 57 |
+
"next_interval": 0,
|
| 58 |
+
"trained_intervals": 71064,
|
| 59 |
+
"snapshot": "pass_end_0423",
|
| 60 |
+
"candidate": true
|
| 61 |
+
},
|
| 62 |
+
"status": "registered"
|
| 63 |
+
}
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"best_source_update": 70224,
|
| 67 |
+
"pass_science": {
|
| 68 |
+
"completed_passes": 423,
|
| 69 |
+
"adam_schedule": "source_transition_v1",
|
| 70 |
+
"next_interval": 0,
|
| 71 |
+
"trained_intervals": 71064,
|
| 72 |
+
"adam_transition_batch_size": 1,
|
| 73 |
+
"optimizer_updates": 1,
|
| 74 |
+
"cumulative_optimizer_updates": 71064,
|
| 75 |
+
"updates": [
|
| 76 |
+
{
|
| 77 |
+
"batch_transition_count": 1,
|
| 78 |
+
"batch_weight_sum": 0.005952380952380952,
|
| 79 |
+
"lr": 0.001,
|
| 80 |
+
"leaf_metrics": {
|
| 81 |
+
"log_object_edge_stiffness": {
|
| 82 |
+
"gradient_l2": 0.0001708763011265546,
|
| 83 |
+
"update_l2": 0.04667608439922333
|
| 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": 2.5906312657753006e-05,
|
| 95 |
+
"update_l2": 0.002895207377150655
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"training_path_transitions": [
|
| 99 |
+
{
|
| 100 |
+
"episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
|
| 101 |
+
"transition_index": 167,
|
| 102 |
+
"loss": 0.10607930566024174,
|
| 103 |
+
"weight": 0.005952380952380952
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"loss_role": "pre_update_training_path_not_checkpoint_score",
|
| 107 |
+
"dead_counts": {
|
| 108 |
+
"object": 25100,
|
| 109 |
+
"attachment": 124,
|
| 110 |
+
"ground": 2
|
| 111 |
+
},
|
| 112 |
+
"ground_context": {
|
| 113 |
+
"ground_friction/raw": 2.005976915359497,
|
| 114 |
+
"ground_friction/effective": 2.0,
|
| 115 |
+
"ground_friction/clamp_changed": 1,
|
| 116 |
+
"ground_restitution/raw": -0.0029794860165566206,
|
| 117 |
+
"ground_restitution/effective": 0.0,
|
| 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": 167,
|
| 124 |
+
"loss": 0.10607930566024174,
|
| 125 |
+
"state_finite": true,
|
| 126 |
+
"frame_index": 218,
|
| 127 |
+
"components": {
|
| 128 |
+
"l1": 0.03358225151896477,
|
| 129 |
+
"ssim_fused": 0.8943461179733276,
|
| 130 |
+
"seg_l1": 0.04617425054311752,
|
| 131 |
+
"seg_ssim_ref": 0.8943448662757874,
|
| 132 |
+
"depth": 0.012316879147182562,
|
| 133 |
+
"rgb_loss": 0.04799656942486763,
|
| 134 |
+
"seg_loss": 0.05807042866945267,
|
| 135 |
+
"total": 0.10607930566024174
|
| 136 |
+
},
|
| 137 |
+
"views": [
|
| 138 |
+
{
|
| 139 |
+
"camera": "brics-odroid-015_cam0",
|
| 140 |
+
"l1": 0.051630835980176926,
|
| 141 |
+
"ssim_fused": 0.8754589557647705,
|
| 142 |
+
"seg_l1": 0.061487309634685516,
|
| 143 |
+
"seg_ssim_ref": 0.8754582405090332,
|
| 144 |
+
"depth": 0.019347777669307804,
|
| 145 |
+
"rgb_loss": 0.06621287763118744,
|
| 146 |
+
"seg_loss": 0.07409819960594177,
|
| 147 |
+
"total": 0.14033042501479853,
|
| 148 |
+
"valid_depth_pixels": 218311,
|
| 149 |
+
"excluded_depth_pixels": 703289,
|
| 150 |
+
"object_depth_holes": 76,
|
| 151 |
+
"depth_full_image_mean_m": 0.019347777669307804,
|
| 152 |
+
"depth_decomposition": {
|
| 153 |
+
"object_visible": {
|
| 154 |
+
"pixels": 202340,
|
| 155 |
+
"full_image_mean_m": 0.013857554145002247
|
| 156 |
+
},
|
| 157 |
+
"object_occluded": {
|
| 158 |
+
"pixels": 15971,
|
| 159 |
+
"full_image_mean_m": 0.005490223524305555
|
| 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": 0.03828732669353485,
|
| 174 |
+
"ssim_fused": 0.8779911994934082,
|
| 175 |
+
"seg_l1": 0.06234859675168991,
|
| 176 |
+
"seg_ssim_ref": 0.8779895305633545,
|
| 177 |
+
"depth": 0.01433173243944378,
|
| 178 |
+
"rgb_loss": 0.05503161996603012,
|
| 179 |
+
"seg_loss": 0.07428096979856491,
|
| 180 |
+
"total": 0.12932692149703448,
|
| 181 |
+
"valid_depth_pixels": 142688,
|
| 182 |
+
"excluded_depth_pixels": 778912,
|
| 183 |
+
"object_depth_holes": 0,
|
| 184 |
+
"depth_full_image_mean_m": 0.01433173243944378,
|
| 185 |
+
"depth_decomposition": {
|
| 186 |
+
"object_visible": {
|
| 187 |
+
"pixels": 136584,
|
| 188 |
+
"full_image_mean_m": 0.011237462691179891
|
| 189 |
+
},
|
| 190 |
+
"object_occluded": {
|
| 191 |
+
"pixels": 6104,
|
| 192 |
+
"full_image_mean_m": 0.003094269748263889
|
| 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": 0.02517501264810562,
|
| 207 |
+
"ssim_fused": 0.9098705053329468,
|
| 208 |
+
"seg_l1": 0.036920104175806046,
|
| 209 |
+
"seg_ssim_ref": 0.9098692536354065,
|
| 210 |
+
"depth": 0.010012126052183256,
|
| 211 |
+
"rgb_loss": 0.03816591203212738,
|
| 212 |
+
"seg_loss": 0.04756223410367966,
|
| 213 |
+
"total": 0.08573815826185922,
|
| 214 |
+
"valid_depth_pixels": 119877,
|
| 215 |
+
"excluded_depth_pixels": 801723,
|
| 216 |
+
"object_depth_holes": 474,
|
| 217 |
+
"depth_full_image_mean_m": 0.010012126052183256,
|
| 218 |
+
"depth_decomposition": {
|
| 219 |
+
"object_visible": {
|
| 220 |
+
"pixels": 117988,
|
| 221 |
+
"full_image_mean_m": 0.008724111729266588
|
| 222 |
+
},
|
| 223 |
+
"object_occluded": {
|
| 224 |
+
"pixels": 1889,
|
| 225 |
+
"full_image_mean_m": 0.0012880143229166668
|
| 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": 0.019235830754041672,
|
| 240 |
+
"ssim_fused": 0.9140640497207642,
|
| 241 |
+
"seg_l1": 0.023940999060869217,
|
| 242 |
+
"seg_ssim_ref": 0.9140625596046448,
|
| 243 |
+
"depth": 0.005575880427795409,
|
| 244 |
+
"rgb_loss": 0.032575856894254684,
|
| 245 |
+
"seg_loss": 0.03634028881788254,
|
| 246 |
+
"total": 0.06892171786727472,
|
| 247 |
+
"valid_depth_pixels": 115580,
|
| 248 |
+
"excluded_depth_pixels": 806020,
|
| 249 |
+
"object_depth_holes": 1388,
|
| 250 |
+
"depth_full_image_mean_m": 0.005575880427795409,
|
| 251 |
+
"depth_decomposition": {
|
| 252 |
+
"object_visible": {
|
| 253 |
+
"pixels": 115580,
|
| 254 |
+
"full_image_mean_m": 0.00557588042779541
|
| 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 |
+
217,
|
| 273 |
+
218
|
| 274 |
+
],
|
| 275 |
+
"times_s": [
|
| 276 |
+
5.566666666666666,
|
| 277 |
+
5.6
|
| 278 |
+
]
|
| 279 |
+
},
|
| 280 |
+
"completed_passes": 423,
|
| 281 |
+
"adam_update_count": 71064
|
| 282 |
+
}
|
| 283 |
+
],
|
| 284 |
+
"training_path_role": "pre-update transition losses; never checkpoint selection",
|
| 285 |
+
"wall_time_s": 0.25357800303027034
|
| 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_ec6304ec5a3b4968924a1c71d68a4ed7_rng.pt",
|
| 290 |
+
"rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
|
| 291 |
+
"resume_boundary": "detached_observation_interval",
|
| 292 |
+
"next_pass": 424,
|
| 293 |
+
"next_interval": 0,
|
| 294 |
+
"next_adam_update": 71065,
|
| 295 |
+
"schedule_id": "source_transition_v1",
|
| 296 |
+
"adam_schedule": "source_transition_v1",
|
| 297 |
+
"source_cursor": {
|
| 298 |
+
"next_interval": 0,
|
| 299 |
+
"completed_passes": 423,
|
| 300 |
+
"trained_intervals": 71064,
|
| 301 |
+
"source_timestamp_s": 5.6,
|
| 302 |
+
"next_source_timestamp_s": 0.0,
|
| 303 |
+
"update_budget": 84000
|
| 304 |
+
},
|
| 305 |
+
"trained_intervals": 71064,
|
| 306 |
+
"source_timestamp_s": 5.6,
|
| 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": -7.45468807220459,
|
| 333 |
+
"median": 11.512956619262695,
|
| 334 |
+
"max": 11.535470008850098,
|
| 335 |
+
"finite_count": 50173,
|
| 336 |
+
"nonfinite_count": 0
|
| 337 |
+
},
|
| 338 |
+
"raw_ground_friction": {
|
| 339 |
+
"min": 2.005976915359497,
|
| 340 |
+
"median": 2.005976915359497,
|
| 341 |
+
"max": 2.005976915359497,
|
| 342 |
+
"finite_count": 1,
|
| 343 |
+
"nonfinite_count": 0
|
| 344 |
+
},
|
| 345 |
+
"raw_ground_restitution": {
|
| 346 |
+
"min": -0.0029794860165566206,
|
| 347 |
+
"median": -0.0029794860165566206,
|
| 348 |
+
"max": -0.0029794860165566206,
|
| 349 |
+
"finite_count": 1,
|
| 350 |
+
"nonfinite_count": 0
|
| 351 |
+
},
|
| 352 |
+
"log_controller_edge_stiffness": {
|
| 353 |
+
"min": -2.2956080436706543,
|
| 354 |
+
"median": 8.963834762573242,
|
| 355 |
+
"max": 11.528096199035645,
|
| 356 |
+
"finite_count": 300,
|
| 357 |
+
"nonfinite_count": 0
|
| 358 |
+
},
|
| 359 |
+
"effective_object_edge_stiffness": {
|
| 360 |
+
"min": 0.0005787221598438919,
|
| 361 |
+
"median": 100000.0,
|
| 362 |
+
"max": 100000.0,
|
| 363 |
+
"finite_count": 50173,
|
| 364 |
+
"nonfinite_count": 0
|
| 365 |
+
},
|
| 366 |
+
"object_edge_enabled": {
|
| 367 |
+
"min": 1.0,
|
| 368 |
+
"median": 1.0,
|
| 369 |
+
"max": 1.0,
|
| 370 |
+
"finite_count": 50173,
|
| 371 |
+
"nonfinite_count": 0
|
| 372 |
+
},
|
| 373 |
+
"object_edge_cap_mask": {
|
| 374 |
+
"min": 0.0,
|
| 375 |
+
"median": 1.0,
|
| 376 |
+
"max": 1.0,
|
| 377 |
+
"finite_count": 50173,
|
| 378 |
+
"nonfinite_count": 0
|
| 379 |
+
},
|
| 380 |
+
"effective_controller_edge_stiffness": {
|
| 381 |
+
"min": 0.10070014744997025,
|
| 382 |
+
"median": 7818.166015625,
|
| 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": 0.0,
|
| 410 |
+
"median": 0.0,
|
| 411 |
+
"max": 0.0,
|
| 412 |
+
"finite_count": 1,
|
| 413 |
+
"nonfinite_count": 0
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"guard_affected_counts": {
|
| 417 |
+
"raw_ground_friction": 1,
|
| 418 |
+
"raw_ground_restitution": 1,
|
| 419 |
+
"object_edge_stiffness": 25101,
|
| 420 |
+
"controller_edge_stiffness": 124
|
| 421 |
+
},
|
| 422 |
+
"fixed_model_inputs_file": "shared_fixed_model_inputs.json"
|
| 423 |
+
}
|