processed/001-rope/episode_0/runs/deform-rope-ep0-dp5: payload batch 1/26

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/archives/adam_epochs_updates_000001-010000.tar

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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/archives/adam_epochs_updates_010001-020000.tar

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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/archives/adam_epochs_updates_020001-030000.tar

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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/archives/adam_epochs_updates_030001-040000.tar

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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/archives/adam_epochs_updates_040001-050000.tar

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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/dispatch_decisions.md

@@ -0,0 +1,13 @@
+# DP5-FULL dispatch decisions — 2026-09-27
+
+Goal: run the plan §9.8 production photometric refinement overnight on the real retained inputs. Done when the persistent process is launched with the exact 500-pass settings, immutable inputs, named online telemetry destination, and read-only monitoring. This dispatch does not perform DP5-REPORT or choose a new candidate.
+
+Owner direction in this thread: provisional HC4 acceptance for the purpose of the overnight full run, authorization of any compute needed, instruction to make a small bounded fix if blocked, and instruction not to wait or ask again. The pilot HC4 finding remains open for morning review. The pilot's same-state CUDA continuation exceeded the recorded localized criterion for loss and endpoint; its actual endpoint cotangent and post-update arrays were not retained. Restored arrays were bitwise identical. See the retained DP5-PILOT records in the sibling 20260926_dp5_pilot namespace, especially `records/verified/pilot_summary.json`, `fit/pilot_verified/pilot_resume_state/`, and the independent pilot review. Running now is an owner-directed exception to the plan §9.8 sequencing and does not mark HC4 scientifically passed.
+
+Full run science: merged DP1–DP4 commit `3d870a7b97b53a004db767f894cc34511f9d5c49`, fresh from E2 BEST, no pilot warm start, `cuda:0`, `atomic_captured`, production default 500 complete passes / 48,000 updates, pass-end frozen scoring including P0 (501 candidates), Adam and objective defaults unchanged. No diagnostic flags, altered thresholds, changed solver, or timeout. Scientific stop is retained as evidence; no restart with changed settings within this run.
+
+Resource decision: use the local GeForce RTX 4090 and the data2 shared output namespace; both were available at dispatch. No PARCC or GRASP allocation. Pilot projection was about 5 hours of stage time, about 3 GB persistent products and about 33.6 GB cumulative rotating checkpoint writes. No run wall or storage cap was imposed by the owner; monitoring alerts do not signal or kill the fit.
+
+Telemetry decision: use the previously accepted service and payload, `serialexperimentsleon/belt_perception` and `DEFORM360_photometric_scalars_guide`, under distinct full-run name `DEFORM360_PHOTO_DP5_FULL_20260927`. The owner approved that destination/payload for the pilot and now broadly directed DP5-FULL without another question. The fresh full-run name is the dispatcher's necessary naming choice; review it in the morning. Service startup row readback is enforced by the entrypoint before science; the local journal is retained if later delivery fails. Credential values are not recorded.
+
+The fit and telemetry trees are exclusive to this run. Logs, launcher, poller, and readback are retained beside them. The poller reads the fit and telemetry, writes only to `readback/`, and never signals the trainer. All three inputs remain read-only.

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/environment.txt

@@ -0,0 +1,12 @@
+code_head=3d870a7b97b53a004db767f894cc34511f9d5c49
+branch=cursor/deform360_dp5_full_20260927
+git_status_porcelain_lines=0
+python=3.11.14
+versions=0.28.2 1.16.0 2.11.0+cu128
+gpu=0, NVIDIA GeForce RTX 4090, 580.178.04, 226 MiB, 24564 MiB
+wandb_env_names=WANDB_API_KEY WANDB_ARTIFACT_DIR WANDB_CACHE_DIR WANDB_DATA_DIR WANDB_DIR WANDB_MODE 
+WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+WANDB_MODE=online

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit.exit

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

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit.stderr

@@ -0,0 +1,42 @@
+wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
+wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260927_005653-6c1c21b6434e427e
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_PHOTO_DP5_FULL_20260927
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/6c1c21b6434e427e
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+wandb: updating run metadata
+wandb: uploading config.yaml; uploading wandb-summary.json
+wandb: 
+wandb: Run history:
+wandb:            deform/health/fit_complete ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb: deform/health/record/nonfinite_fields ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:          deform/health/record/ordinal ▁▁▁▁▁▂▂▂▂▃▃▃▄▄▄▄▄▄▅▅▅▅▅▅▅▅▆▆▆▆▆▆▆▆▆▇▇███
+wandb:         deform/health/score_completed ▁▁▁▁▂▂▂▂▃▃▃▃▃▃▃▄▄▄▄▄▅▅▅▅▅▅▅▆▆▆▆▆▇▇▇▇▇███
+wandb:          deform/health/score_consumed ▁▁▁▂▂▂▂▂▂▂▃▃▃▃▃▃▃▄▄▄▄▄▅▅▅▆▆▆▆▆▆▇▇▇▇█████
+wandb:            deform/health/score_errors ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:           deform/health/score_pending ▁██▁███████▁█▁███████▁▁██▁█▁▁▁▁█████▁▁██
+wandb:          deform/health/service_active ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:       deform/health/source_update_lag ▇▆▆▂▁▁▃▅▆▂▁█▇▁▄▃▇▃▁▃▂▆▇▂▇█▆▁▇▅▅▃█▆▂▄▇▅▁▁
+wandb:             deform/health/status_code ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:                                  +275 ...
+wandb: 
+wandb: Run summary:
+wandb:            deform/health/fit_complete 0
+wandb: deform/health/record/nonfinite_fields 0
+wandb:          deform/health/record/ordinal 49905
+wandb:         deform/health/score_completed 499
+wandb:          deform/health/score_consumed 499
+wandb:            deform/health/score_errors 0
+wandb:           deform/health/score_pending 1
+wandb:          deform/health/service_active 1
+wandb:       deform/health/source_update_lag 142
+wandb:             deform/health/status_code 0
+wandb:                                  +284 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_PHOTO_DP5_FULL_20260927 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/6c1c21b6434e427e
+wandb: ⭐️ View project at: https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: Synced 2 W&B file(s), 0 media file(s), 0 artifact file(s) and 1 other file(s)
+wandb: Find logs at: /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260927_005653-6c1c21b6434e427e/logs

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit.stdout

@@ -0,0 +1,30 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 1.09 ms  (cached)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.40 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.27 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.29 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.21 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.22 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.25 ms  (cached)
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.26 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.25 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.25 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.20 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.22 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.25 ms  (cached)
+{
+  "status": "completed"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit_command.txt

@@ -0,0 +1 @@
+uv run --no-sync python scripts/run_observation_photometric_refinement.py fit --parent /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit --bundle /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260926_dp1/inputs/photometric_views --appearance /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260926/appearance/qualification_20260926_dp2_occ/splat_92/stored.ply --output /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260927_dp5_full/fit --device cuda:0 --execution-mode atomic_captured --observation-mode online --observation-root /mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260927_dp5_full/telemetry --observation-run-name DEFORM360_PHOTO_DP5_FULL_20260927 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_PHOTO_DP5_FULL_20260927 --observation-approved-entity serialexperimentsleon --observation-approved-project belt_perception --observation-approved-payload DEFORM360_photometric_scalars_guide 

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit_end_unix

@@ -0,0 +1 @@
+1790496177.987284750

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/logs/fit_start_unix

@@ -0,0 +1 @@
+1790485009.080642428

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/deform360_photo_ep0_92_188_20260927_dp5_full/tools/launch_dp5_full.sh

@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+# DP5-FULL owner dispatch, 2026-09-27. Fresh scientific run; no budget flags or timeout.
+set -u
+ROOT=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260927_dp5_full
+WT=/mnt/data0/magna/belt_perception_wt_deform360_dp5_full_20260927
+PARENT=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit
+BUNDLE=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260926_dp1/inputs/photometric_views
+APPEARANCE=/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_PHOTO_ep0_92_188_20260926/appearance/qualification_20260926_dp2_occ/splat_92/stored.ply
+NAME=DEFORM360_PHOTO_DP5_FULL_20260927
+export WANDB_MODE=online
+export WANDB_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs
+export WANDB_DATA_DIR=/mnt/data2/magna/belt_perception_shared/tool_state/wandb/data
+export WANDB_CACHE_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/cache
+export WANDB_ARTIFACT_DIR=/mnt/data2/magna/belt_perception_shared/tool_cache/wandb/artifacts
+cd "$WT" || exit 2
+if [ -e "$ROOT/fit" ] || [ -e "$ROOT/telemetry" ] || [ -e "$ROOT/logs/fit.pgid" ]; then
+  echo 'refusing existing fit, telemetry, or process group' >&2
+  exit 2
+fi
+echo $$ > "$ROOT/logs/launcher.pid"
+if [ "$(git rev-parse HEAD)" != 3d870a7b97b53a004db767f894cc34511f9d5c49 ]; then
+  echo 'refusing changed science code revision' >&2
+  exit 2
+fi
+{
+  echo "code_head=$(git rev-parse HEAD)"
+  echo "branch=$(git rev-parse --abbrev-ref HEAD)"
+  echo "git_status_porcelain_lines=$(git status --porcelain | wc -l)"
+  echo "python=$(.venv/bin/python -c 'import sys; print(sys.version.split()[0])')"
+  echo "versions=$(.venv/bin/python -c 'import wandb,warp,torch; print(wandb.__version__,warp.__version__,torch.__version__)' 2>/dev/null)"
+  echo "gpu=$(nvidia-smi --query-gpu=index,name,driver_version,memory.used,memory.total --format=csv,noheader)"
+  echo "wandb_env_names=$(env | cut -d= -f1 | grep '^WANDB' | sort | tr '\n' ' ')"
+  echo "WANDB_DIR=$WANDB_DIR"
+  echo "WANDB_DATA_DIR=$WANDB_DATA_DIR"
+  echo "WANDB_CACHE_DIR=$WANDB_CACHE_DIR"
+  echo "WANDB_ARTIFACT_DIR=$WANDB_ARTIFACT_DIR"
+  echo "WANDB_MODE=$WANDB_MODE"
+} > "$ROOT/logs/environment.txt"
+CMD=(uv run --no-sync python scripts/run_observation_photometric_refinement.py fit
+  --parent "$PARENT" --bundle "$BUNDLE" --appearance "$APPEARANCE"
+  --output "$ROOT/fit" --device cuda:0 --execution-mode atomic_captured
+  --observation-mode online --observation-root "$ROOT/telemetry"
+  --observation-run-name "$NAME"
+  --observation-entity serialexperimentsleon --observation-project belt_perception
+  --observation-approved-run-name "$NAME"
+  --observation-approved-entity serialexperimentsleon
+  --observation-approved-project belt_perception
+  --observation-approved-payload DEFORM360_photometric_scalars_guide)
+printf '%q ' "${CMD[@]}" > "$ROOT/logs/fit_command.txt"
+echo >> "$ROOT/logs/fit_command.txt"
+date +%s.%N > "$ROOT/logs/fit_start_unix"
+setsid bash -c 'echo $$ > "$0/logs/fit.pgid"; exec "${@}"' "$ROOT" "${CMD[@]}" \
+  > "$ROOT/logs/fit.stdout" 2> "$ROOT/logs/fit.stderr" &
+wait $!
+code=$?
+echo "exit=$code" > "$ROOT/logs/fit.exit"
+date +%s.%N > "$ROOT/logs/fit_end_unix"
+exit "$code"

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/dp2_appearance_splat_92/import.json

@@ -0,0 +1,726 @@
+{
+  "source_path": "/mnt/data2/magna/datasets/deform360/processed/001-rope/episode_0/splatfacto/splat_92.ply",
+  "sha256_convention": "C-order bytes in recorded dtype; no dtype/shape prefix",
+  "arrays": {
+    "stored/x": {
+      "sha256": "44e4e9f6e69d4d8a9bbc29e91db1068d13ca7530206ce7118ec660a4dca0f31b",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/y": {
+      "sha256": "1cff4b31739ef6dba32f8544dde7ed3689156f6722cbaf59829becbd06c70d99",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/z": {
+      "sha256": "8533658b91d913a6251231a0155c81ae13fc59a0f4d6aacb5a4259e9b2d68b1f",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/nx": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/ny": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/nz": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_dc_0": {
+      "sha256": "9f0cf6382542e9d348f96199c09a04596b2d9773265d46e521d773dfc1eff94d",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_dc_1": {
+      "sha256": "27f4df61fad144c4d7c5c727dfd18fb803129111188bf24f6d75909b15df7566",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_dc_2": {
+      "sha256": "f75c35d0ffa2a4979fece141faafda4fda82957fde4647cebc7a02f0f54af911",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_rest_0": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_rest_1": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_rest_2": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
+      ]
+    },
+    "stored/f_rest_3": {
+      "sha256": "9a7afdef9f1e9b618979d8386486de715351ce41fb584b130135e33326638086",
+      "dtype": "<f4",
+      "shape": [
+        3851
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+}

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/photometric_views_cameras/camera_selection.json

@@ -0,0 +1,913 @@
+{
+  "alternatives": [
+    {
+      "replace": "022_cam1",
+      "tradeoff": "More azimuth spread toward free end, smaller rope area, loses vertical pair.",
+      "with": "021_cam1"
+    },
+    {
+      "replace": "015_cam0",
+      "tradeoff": "Highest support, one repeated raw frame and 1.9% sampled holes.",
+      "with": "014_cam1"
+    },
+    {
+      "replace": "001_cam0",
+      "tradeoff": "Hand directly over grasp; margin 39 px.",
+      "with": "011_cam0"
+    },
+    {
+      "set": [
+        "015_cam0",
+        "001_cam0",
+        "021_cam1",
+        "009_cam1"
+      ],
+      "tradeoff": "Greedy farthest-point set; 009_cam1 rejected because arm dominates."
+    }
+  ],
+  "camera_names": [
+    "brics-odroid-015_cam0",
+    "brics-odroid-022_cam1",
+    "brics-odroid-023_cam0",
+    "brics-odroid-001_cam0"
+  ],
+  "limitations": "A justified four-view baseline, not a ranking of optimal cameras. Raw timestamp offsets remain fixed; HC1 reviews the timing trade-off.",
+  "rule": "Plan \u00a75.2: fixed geometry/coverage/image-utility choice; two views per side; elevations 3/56/57/36 degrees; low/high same-side vertical pair. No refinement outcomes used.",
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+  "survey_admissibility": "Above support, untruncated all 97 frames, tracking support >= 0.89, sampled in-mask zero-depth <= 2%; then visual manipulator-occlusion review.",
+  "visual_exclusions_from_plan": {
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+    "weak_mask_and_support": [
+      "024_cam0"
+    ]
+  }
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/photometric_views_cameras/cameras.npz

@@ -0,0 +1,3 @@
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processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/evidence/photometric_views_selection_records/survey.csv

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