processed/001-rope/episode_0/runs/deform-rope-ep0-e2: package_final batch 1/1

.gitattributes

@@ -35,3 +35,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 processed/001-rope/episode_0/runs/deform-rope-ep0-dp5/native/adam_scores.jsonl filter=lfs diff=lfs merge=lfs -text
 processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_scores.jsonl filter=lfs diff=lfs merge=lfs -text
+processed/001-rope/episode_0/runs/deform-rope-ep0-e2/archives/members.json filter=lfs diff=lfs merge=lfs -text

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

@@ -0,0 +1,39 @@
+# deform-rope-ep0-e2
+
+Deform360 rope episode 0 (aligned frames 92-188) tracking fit: source CMA (100 generations, 1,100 asks) then clamp-at-use source Adam (500 passes, 48,000 updates); BEST = FINAL = pass_end_0500.
+
+| Field | Value |
+|---|---|
+| Status | complete |
+| Identity | object_id `001-rope`, episode_id `episode_0` |
+| Parent | none recorded |
+| Stages | cma, adam |
+| Budget (completed/configured) | cma: generations 100/100, evaluations 1100/1100; adam: passes 500/500, updates 48000/48000 |
+| Labels | BEST adam/pass_end_0500, FINAL adam/pass_end_0500 |
+| Code revision(s) | `3ad61eca7228670a04b8d7aea00a689fb143cb2e`; dirty tree by stage: cma reported clean, adam reported clean |
+| Checkpoint rows | 611 (`checkpoints.tsv`) |
+| Archived native records | 48,000 per-update records in 5 tar archives (`archives/members.json`, owner D16) |
+
+## Stages
+
+- **cma** (`native/run_result.json`): "J_CMA = mean_t(C_t + T_t + A_t), candidate-local acceleration history"
+- **adam** (`native/run_result.json`): "L_t = C_t + T_t; Warp tape seeds; unscaled per-transition gradients"
+  - stiffness update: clamp at use only (clamp_at_use_only true, spring_y_clamp recorded); this run predates the projected update and its history is not reinterpreted
+
+## Capabilities
+
+- **portable_use**: native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending
+- **interrupted_run_recovery**: boundary arrays, optimizer and RNG state and the FitInputs the writer's resume hash check reads are retained; not exercised (no Deform restore-only check exists, and all eight Deform fits are clamp-at-use only)
+- **extend_completed_budget**: not supported: the native protocols refuse to extend a finished run's horizon
+- **full_reproduction**: not claimed (D3); dirty-state and environment limits are listed under code
+- **continuation_under_projected_update**: not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics
+
+## Limitations
+
+- pycma strategy state is retained only for the last two generations (cma_generations/generation_098_backend.pkl, cma_generations/generation_099_backend.pkl); the writer did not keep earlier strategy pickles, so earlier generations cannot be resumed from saved strategy state
+
+## Unknowns
+
+- {"field": "cma strategy state before the last two generations", "value": null, "reason": "not written: the writer retains only the last two _backend.pkl files", "searched": ["native/cma_generations"]}
+
+Native records under `native/` are authoritative; `run.json`, `checkpoints.tsv` and `dependencies.json` index them. License: see the repository `LICENSE` and card.

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/archives/members.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5322f6b4bcc1764d0d33c74babedfbfb59666d81eb37d2b738794e914e3f529
+size 11799437

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/dependencies.json

@@ -0,0 +1,31 @@
+{
+  "dataset_inputs": [],
+  "depth_stream_identities": null,
+  "environment_references": [],
+  "external_records": [],
+  "input_bundle_references": [],
+  "input_bundles": [],
+  "model_parents": [],
+  "model_run_references": [],
+  "notes": [
+    "recorded_path values are the paths written in native records at fit time; they are evidence, not download locations",
+    "uses: 'record' = cited by a packaged native record; 'resume' = read by the existing resume identity checks (real_rgbd.model_io.source_input_identity), needed only to continue the fit"
+  ],
+  "packaged_evidence": [],
+  "resolution": {
+    "dataset_revision": null,
+    "dataset_revisions": [],
+    "not_published_inputs": 0,
+    "reason": "every dataset input is pinned to a reconciled dataset publication revision or is explicitly not published",
+    "status": "resolved",
+    "unmapped_dataset_inputs": 0,
+    "unmatched_unpublished_inputs": [],
+    "unpinned_dataset_inputs": 0
+  },
+  "run_id": "deform-rope-ep0-e2",
+  "schema": "phystwin_model_dependencies_v1",
+  "third_party_weights": [],
+  "unpackaged_evidence_references": [],
+  "upstream_input_references": [],
+  "upstream_inputs": []
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/run.json

@@ -0,0 +1,524 @@
+{
+  "aliases": [
+    {
+      "path": "native/adam_epochs/BEST.json",
+      "points_to": "adam/pass_end_0500",
+      "relation": "role record referencing that checkpoint's bundle files",
+      "role": "BEST"
+    },
+    {
+      "path": "native/adam_epochs/FINAL.json",
+      "points_to": "adam/pass_end_0500",
+      "relation": "role record referencing that checkpoint's bundle files",
+      "role": "FINAL"
+    },
+    {
+      "path": "native/adam_epochs/theta_0.json",
+      "points_to": "adam/pass_end_0000",
+      "relation": "role record referencing that checkpoint's bundle files",
+      "role": "Adam0 (theta_0)"
+    },
+    {
+      "path": "native/adam_epochs/boundary.json",
+      "points_to": "adam/pass_end_0500",
+      "relation": "role record referencing that checkpoint's bundle files",
+      "role": "resume boundary"
+    }
+  ],
+  "archived_native_records": {
+    "archives": 5,
+    "index": "archives/members.json",
+    "member_bytes": 117140937,
+    "members": 48000,
+    "rule": "Owner decision D16 (2026-10-30): the Deform360 per-update records native/adam_epochs/update_*_updates.json are published inside these uncompressed tar archives, 10,000 update numbers per archive, because the Hub allows at most 10,000 entries per folder. Member bytes are unchanged; extract each member to <run dir>/native/<member> to restore the native layout (scripts/phystwin_publish.py fetch --all-checkpoints does this)."
+  },
+  "capabilities": {
+    "continuation_under_projected_update": "not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics",
+    "extend_completed_budget": "not supported: the native protocols refuse to extend a finished run's horizon",
+    "full_reproduction": "not claimed (D3); dirty-state and environment limits are listed under code",
+    "interrupted_run_recovery": "boundary arrays, optimizer and RNG state and the FitInputs the writer's resume hash check reads are retained; not exercised (no Deform restore-only check exists, and all eight Deform fits are clamp-at-use only)",
+    "portable_use": "native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending"
+  },
+  "checkpoints": {
+    "counts": {
+      "adam_boundary": 1,
+      "adam_pass_end": 501,
+      "cma_center": 1,
+      "cma_champion_model": 1,
+      "cma_generation": 100,
+      "cma_shared_arrays": 1,
+      "cma_winner": 1,
+      "fit_inputs": 1,
+      "role_record": 4
+    },
+    "rows": 611,
+    "table": "checkpoints.tsv"
+  },
+  "code": {
+    "belt_perception_commits": [
+      "3ad61eca7228670a04b8d7aea00a689fb143cb2e"
+    ],
+    "dirty_reported": false,
+    "limitations": [],
+    "observations": [
+      {
+        "key": "code_head / git_status_porcelain_lines",
+        "scope": "run",
+        "source": "evidence/deform360_e2_ep0_92_188_20260924/logs/environment.txt",
+        "value": {
+          "dirty": false,
+          "head": "3ad61eca7228670a04b8d7aea00a689fb143cb2e"
+        }
+      }
+    ],
+    "stages": {
+      "adam": {
+        "belt_perception_commits": [
+          "3ad61eca7228670a04b8d7aea00a689fb143cb2e"
+        ],
+        "dirty_reported": false,
+        "sources": [
+          "evidence/deform360_e2_ep0_92_188_20260924/logs/environment.txt:code_head / git_status_porcelain_lines"
+        ]
+      },
+      "cma": {
+        "belt_perception_commits": [
+          "3ad61eca7228670a04b8d7aea00a689fb143cb2e"
+        ],
+        "dirty_reported": false,
+        "sources": [
+          "evidence/deform360_e2_ep0_92_188_20260924/logs/environment.txt:code_head / git_status_porcelain_lines"
+        ]
+      }
+    }
+  },
+  "description": "Deform360 rope episode 0 (aligned frames 92-188) tracking fit: source CMA (100 generations, 1,100 asks) then clamp-at-use source Adam (500 passes, 48,000 updates); BEST = FINAL = pass_end_0500.",
+  "environment": {},
+  "evidence_files": [
+    "evidence/deform360_e2_ep0_92_188_20260924/README.md",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/environment.txt",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit.exit",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit.stderr",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit.stdout",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit_command.txt",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit_end_unix",
+    "evidence/deform360_e2_ep0_92_188_20260924/logs/fit_start_unix",
+    "evidence/deform360_e2_ep0_92_188_20260924/tools/launch_e2_fit.sh"
+  ],
+  "family": "deform360_boundary",
+  "gaps": [],
+  "identity": {
+    "episode_id": "episode_0",
+    "object_id": "001-rope"
+  },
+  "inputs": [
+    {
+      "episode_id": "episode_0",
+      "object_id": "001-rope",
+      "preprocessing": "project FitInputs (retained in native/inputs) and recorded upstream sources",
+      "role": "aligned fit window"
+    }
+  ],
+  "labels": {
+    "BEST": {
+      "completed_passes": 500,
+      "cumulative_optimizer_updates": 48000,
+      "key": "arrays_file",
+      "metric": "lowest_finite_frozen_J_obs_earliest_source_update_tie",
+      "metric_role": "all_data_in_sample",
+      "note": "run_result best_epoch/best_source_update count cumulative updates, not passes",
+      "score": 6.6642449733459825e-06,
+      "source": "native/adam_epochs/BEST.json",
+      "value": "adam/pass_end_0500"
+    },
+    "FINAL": {
+      "completed_passes": 500,
+      "cumulative_optimizer_updates": 48000,
+      "key": "arrays_file",
+      "metric_role": "all_data_in_sample",
+      "note": "run_result best_epoch/best_source_update count cumulative updates, not passes",
+      "score": 6.6642449733459825e-06,
+      "source": "native/adam_epochs/FINAL.json",
+      "value": "adam/pass_end_0500"
+    }
+  },
+  "license": {
+    "attribution": "Derived from Deform360 (brownu/deform360, MIT-declared raw dataset; brownu/deform360_processed declares no license at the pinned revision). Embedded canonical Gaussian arrays in photometric checkpoints derive from the upstream splatfacto reconstruction named in upstream_inputs.",
+    "id": "mit",
+    "scope": "MIT applies to the project-produced fit packages in this repository. Owner decision D12 interprets the processed Deform360 assets these fits derive from as covered by the raw dataset's MIT terms (brownu/deform360 declares MIT); brownu/deform360_processed itself declares no license at revision e92deaf7e437e7e51ad464706ae647f522a279d9. This is the owner's interpretation, not an upstream declaration. Upstream data are not redistributed or relicensed here; their attribution is retained."
+  },
+  "limitations": [
+    "pycma strategy state is retained only for the last two generations (cma_generations/generation_098_backend.pkl, cma_generations/generation_099_backend.pkl); the writer did not keep earlier strategy pickles, so earlier generations cannot be resumed from saved strategy state"
+  ],
+  "native_files": {
+    "bytes": 365470922,
+    "files": 2837
+  },
+  "native_reconciliation": {
+    "included_by_category": {
+      "adam_role_record": {
+        "bytes": 4238361,
+        "files": 506
+      },
+      "adam_state_bundle": {
+        "bytes": 103704458,
+        "files": 1506
+      },
+      "adam_update_rows": {
+        "bytes": 117140937,
+        "files": 48000
+      },
+      "cma_generation_state": {
+        "bytes": 184641029,
+        "files": 304
+      },
+      "cma_initialization_score": {
+        "bytes": 3079056,
+        "files": 2
+      },
+      "cma_winner": {
+        "bytes": 4821824,
+        "files": 5
+      },
+      "fit_inputs": {
+        "bytes": 6031526,
+        "files": 7
+      },
+      "frozen_score": {
+        "bytes": 35496414,
+        "files": 501
+      },
+      "frozen_score_arrays": {
+        "bytes": 3018847,
+        "files": 1
+      },
+      "stage_record": {
+        "bytes": 20439407,
+        "files": 5
+      }
+    },
+    "included_files": 50837,
+    "not_selected": {
+      "post-hoc frozen pass-score rollout (q/v) of a pass end that neither BEST nor FINAL references; its score JSON is kept (owner D13)": {
+        "bytes": 1511581134,
+        "examples": [
+          "adam_epochs/pass_scores/pass_end_0000.npz",
+          "adam_epochs/pass_scores/pass_end_0001.npz",
+          "adam_epochs/pass_scores/pass_end_0002.npz"
+        ],
+        "files": 500
+      }
+    },
+    "source_files": 51337,
+    "unclassified": [],
+    "unclassified_files": 0
+  },
+  "notes": [],
+  "parent": {
+    "declared": null,
+    "native": null,
+    "verified": null
+  },
+  "relocation": {
+    "path_in_repo": "processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native",
+    "recorded_aliases": [
+      "/vast/projects/posa/contact-rich-robot/data/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit"
+    ],
+    "recorded_root": "/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit",
+    "resolved_root": "/mnt/data2/magna/belt_perception_shared/deform360_rope_offline_fit/DEFORM360_E2_ep0_92_188_20260924/fit",
+    "rule": "native/<path relative to the recorded root>; native records keep recorded paths"
+  },
+  "repo_id": "DAIRLab/deform360_phystwin_models",
+  "run_id": "deform-rope-ep0-e2",
+  "schema": "phystwin_model_run_v1",
+  "stages": [
+    {
+      "active_coordinates": {
+        "key": "champion_so_far.active_indices",
+        "source": "native/cma_generations/generation_099.json",
+        "value": [
+          "spring_Y",
+          "object_radius",
+          "object_max_neighbours",
+          "controller_radius",
+          "controller_max_neighbours",
+          "collide_elas",
+          "collide_fric",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "budget": {
+        "completed": {
+          "evaluations": {
+            "key": "cma.completed_evaluations",
+            "source": "native/run_result.json",
+            "value": 1100
+          },
+          "generations": {
+            "key": "cma.completed_generations",
+            "source": "native/run_result.json",
+            "value": 100
+          },
+          "stop_reason": {
+            "key": "cma.stopped_reason",
+            "source": "native/run_result.json",
+            "value": "max_generations"
+          }
+        },
+        "configured": {
+          "evaluations": {
+            "key": "fit_policy.cma_max_asks",
+            "source": "native/run_result.json",
+            "value": 1100
+          },
+          "generations": {
+            "key": "fit_policy.cma_max_generations",
+            "source": "native/run_result.json",
+            "value": 100
+          }
+        }
+      },
+      "champion_values": {
+        "key": "physical_parameters",
+        "source": "native/cma_champion_model.json",
+        "value": {
+          "collide_elas": 0.023052300697592235,
+          "collide_fric": 0.477809666322764,
+          "collide_object_elas": 0.34911563830306125,
+          "collide_object_fric": 0.0758129358983996,
+          "collision_dist": 0.026509848482492077,
+          "controller_max_neighbours": 61,
+          "controller_radius": 0.05503967902048717,
+          "dashpot_damping": 159.82929373636583,
+          "drag_damping": 17.854821028006974,
+          "object_max_neighbours": 12,
+          "object_radius": 0.019029687678329348,
+          "spring_Y": 30429.304578084826
+        }
+      },
+      "inactive_coordinates": {
+        "key": "champion_so_far.inactive_indices",
+        "meaning": "sampled and decoded by CMA but without effect on the score, so their champion values are not constrained by the fit",
+        "object_collision_enabled": {
+          "key": "fixed_model_inputs.scene.object_collision_enabled",
+          "source": "native/cma_generations/shared_inputs.json",
+          "value": false
+        },
+        "source": "native/cma_generations/generation_099.json",
+        "value": [
+          "collide_object_elas",
+          "collide_object_fric",
+          "collision_dist"
+        ]
+      },
+      "kind": "deform360_source_cma",
+      "objective": {
+        "key": "fit_policy.cma_objective",
+        "source": "native/run_result.json",
+        "value": "J_CMA = mean_t(C_t + T_t + A_t), candidate-local acceleration history"
+      },
+      "record": "native/run_result.json",
+      "searched_coordinates": {
+        "key": "champion_so_far.parameter_names",
+        "source": "native/cma_generations/generation_099.json",
+        "value": [
+          "spring_Y",
+          "object_radius",
+          "object_max_neighbours",
+          "controller_radius",
+          "controller_max_neighbours",
+          "collide_elas",
+          "collide_fric",
+          "collide_object_elas",
+          "collide_object_fric",
+          "collision_dist",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "settings": {
+        "native_stopping": {
+          "key": "fit_policy.cma_native_stopping",
+          "source": "native/run_result.json",
+          "value": true
+        },
+        "population_size": {
+          "key": "fit_policy.cma_population",
+          "source": "native/run_result.json",
+          "value": 11
+        },
+        "seed": {
+          "key": "fit_policy.cma_seed",
+          "source": "native/run_result.json",
+          "value": 42
+        }
+      },
+      "stage": "cma",
+      "strategy_state_retained": {
+        "key": "generation_###_backend.pkl present",
+        "source": "native/cma_generations",
+        "value": [
+          "cma_generations/generation_098_backend.pkl",
+          "cma_generations/generation_099_backend.pkl"
+        ]
+      }
+    },
+    {
+      "best_metric": {
+        "key": "fit_policy.selection",
+        "source": "native/run_result.json",
+        "value": "lowest_finite_frozen_J_obs_earliest_source_update_tie"
+      },
+      "budget": {
+        "completed": {
+          "passes": {
+            "key": "adam.completed_passes",
+            "source": "native/run_result.json",
+            "value": 500
+          },
+          "stop_reason": {
+            "key": "adam.stopped_reason",
+            "source": "native/run_result.json",
+            "value": "max_updates"
+          },
+          "updates": {
+            "key": "adam.cumulative_optimizer_updates",
+            "source": "native/run_result.json",
+            "value": 48000
+          }
+        },
+        "configured": {
+          "passes": {
+            "key": "fit_policy.adam_passes",
+            "source": "native/run_result.json",
+            "value": 500
+          },
+          "updates": {
+            "key": "fit_policy.adam_updates",
+            "source": "native/run_result.json",
+            "value": 48000
+          }
+        }
+      },
+      "frozen_score": {
+        "key": "fit_policy.frozen_score",
+        "source": "native/run_result.json",
+        "value": "J_obs = mean_t(C_t + T_t); C/T/A and J_CMA reported beside it"
+      },
+      "objective": {
+        "key": "fit_policy.adam_objective",
+        "source": "native/run_result.json",
+        "value": "L_t = C_t + T_t; Warp tape seeds; unscaled per-transition gradients"
+      },
+      "optimizer": {
+        "betas": {
+          "key": "betas",
+          "source": "native/adam_epochs/BEST.json",
+          "value": [
+            0.9,
+            0.99
+          ]
+        },
+        "eps": {
+          "key": "eps",
+          "source": "native/adam_epochs/BEST.json",
+          "value": 1e-08
+        },
+        "lr": {
+          "key": "lr",
+          "source": "native/adam_epochs/BEST.json",
+          "value": 0.001
+        }
+      },
+      "optimizer_note": "lr/betas/eps are written from the writer's module constants, not read back from torch",
+      "parameters": {
+        "fixed": {
+          "key": "cma_champion",
+          "source": "native/adam_epochs/shared_fixed_model_inputs.json",
+          "value": "topology, rest lengths, masses and controller coupling of cma_champion_model; drag and dashpot of shared_fixed_model_inputs cma_champion; the interval and scene"
+        },
+        "optimizer_leaves": {
+          "key": "leaf_names",
+          "source": "native/adam_epochs/BEST.json",
+          "value": [
+            "log_object_edge_stiffness",
+            "raw_ground_friction",
+            "raw_ground_restitution",
+            "log_controller_edge_stiffness"
+          ]
+        }
+      },
+      "record": "native/run_result.json",
+      "seed": {
+        "reason": "Adam records no seed; every bundle saves python/numpy/torch RNG state (_rng.pt)",
+        "searched": [
+          "native/adam_epochs/BEST.json"
+        ],
+        "value": null
+      },
+      "selection_record": {
+        "best_epoch": {
+          "key": "adam.best_epoch",
+          "source": "native/run_result.json",
+          "value": null
+        },
+        "best_score": {
+          "key": "adam.best_score",
+          "source": "native/run_result.json",
+          "value": 6.6642449733459825e-06
+        },
+        "best_source_update": {
+          "key": "adam.best_source_update",
+          "source": "native/run_result.json",
+          "value": 48000
+        },
+        "final_score": {
+          "key": "adam.final_score",
+          "source": "native/run_result.json",
+          "value": 6.6642449733459825e-06
+        },
+        "metric_role": {
+          "key": "adam.metric_role",
+          "source": "native/run_result.json",
+          "value": null
+        },
+        "score_cadence": {
+          "key": "adam.score_cadence",
+          "source": "native/run_result.json",
+          "value": "pass_end"
+        },
+        "scored_candidates": {
+          "key": "adam.scored_candidates",
+          "source": "native/run_result.json",
+          "value": 501
+        }
+      },
+      "stage": "adam",
+      "stiffness_update": {
+        "key": "clamp_at_use_only",
+        "source": "native/adam_epochs/BEST.json",
+        "value": "clamp at use only (clamp_at_use_only true, spring_y_clamp recorded); this run predates the projected update and its history is not reinterpreted"
+      }
+    }
+  ],
+  "status": {
+    "completion_evidence": [
+      "native/run_result.json",
+      "native/adam_epochs/FINAL.json",
+      "native/adam_epochs/boundary.json"
+    ],
+    "label": "complete",
+    "note": null
+  },
+  "unknowns": [
+    {
+      "field": "cma strategy state before the last two generations",
+      "reason": "not written: the writer retains only the last two _backend.pkl files",
+      "searched": [
+        "native/cma_generations"
+      ],
+      "value": null
+    }
+  ]
+}