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+        "max": 0.9681397676467896
+      },
+      {
+        "count": 12346,
+        "mean": 0.6744679410198259,
+        "std": 0.15952921871879877,
+        "min": 0.07197603583335876,
+        "p01": 0.18552009165287017,
+        "p10": 0.45665110647678375,
+        "median": 0.7006379663944244,
+        "p90": 0.8554308414459229,
+        "p95": 0.8894975185394287,
+        "p99": 0.9535487830638885,
+        "max": 1.139984369277954
+      }
+    ],
+    "dc_outside_0_1_gaussian_count": 38,
+    "dc_outside_0_1_gaussian_fraction": 0.003077919974080674,
+    "dc_below_0_channels": 4,
+    "dc_above_1_channels": 34
+  },
+  "sh_degree": 0,
+  "alterations": [],
+  "bitwise_roundtrip": true
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.err

@@ -0,0 +1,43 @@
+wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
+wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
+wandb: setting up run cdcc74c16eda45e6
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/runs/wandb/run-20261015_110003-cdcc74c16eda45e6
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_U08C_D2_sloth_ep0_50_218_photometric_20261014
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/cdcc74c16eda45e6
+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:                                  +267 ...
+wandb: 
+wandb: Run summary:
+wandb:            deform/health/fit_complete 0
+wandb: deform/health/record/nonfinite_fields 0
+wandb:          deform/health/record/ordinal 87799
+wandb:         deform/health/score_completed 500
+wandb:          deform/health/score_consumed 500
+wandb:            deform/health/score_errors 0
+wandb:           deform/health/score_pending 1
+wandb:          deform/health/service_active 1
+wandb:       deform/health/source_update_lag 168
+wandb:             deform/health/status_code 0
+wandb:                                  +274 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_U08C_D2_sloth_ep0_50_218_photometric_20261014 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/cdcc74c16eda45e6
+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: /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/wandb/runs/wandb/run-20261015_110003-cdcc74c16eda45e6/logs

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/evidence/u08c_d2_090-sloth_ep0/qualification/parcc_records/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.out

@@ -0,0 +1,120 @@
+{
+  "agent_worktree_root": "/vast/projects/posa/contact-rich-robot/worktrees",
+  "allowed_worktree_roots": [
+    "/vast/projects/posa/contact-rich-robot/worktrees"
+  ],
+  "canonical_repo_path": "/vast/projects/posa/contact-rich-robot/belt_perception",
+  "data_root": "/vast/projects/posa/contact-rich-robot/data",
+  "execution_environment": "parcc",
+  "peer_ssh_alias": "magna-gpu",
+  "project_root": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014",
+  "run_root": "/vast/projects/posa/contact-rich-robot/runs",
+  "scratch_root": "/vast/projects/posa/contact-rich-robot/scratch",
+  "shared_root": "/vast/projects/posa/contact-rich-robot/data/belt_perception_shared",
+  "transfer_root": "/vast/projects/posa/contact-rich-robot/transfers",
+  "uv_cache_root": "/vast/projects/posa/contact-rich-robot/uv/cache"
+}
+Agent preflight summary
+  execution_environment: parcc
+  pwd:              /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
+  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
+  branch:           cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
+  marker.environment:     parcc
+  marker.canonical_path:  /vast/projects/posa/contact-rich-robot/belt_perception
+  marker.worktree_path:   /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014
+  marker.base_commit:     a4b23833d614b43bcd440c4c2c9dc29eb919adec
+  marker.created_at:      2026-10-15T00:04:33Z
+  resolved.canonical:     /vast/projects/posa/contact-rich-robot/belt_perception
+  resolved.worktree_root: /vast/projects/posa/contact-rich-robot/worktrees
+  resolved.data_root:     /vast/projects/posa/contact-rich-robot/data
+  resolved.shared_root:   /vast/projects/posa/contact-rich-robot/data/belt_perception_shared
+  resolved.run_root:      /vast/projects/posa/contact-rich-robot/runs
+  resolved.scratch_root:  /vast/projects/posa/contact-rich-robot/scratch
+  resolved.transfer_root: /vast/projects/posa/contact-rich-robot/transfers
+  resolved.uv_cache_root: /vast/projects/posa/contact-rich-robot/uv/cache
+  worktree status:
+    ## cursor/u08c_d2_sloth_ep0_fit_parcc_20261014
+  canonical status (/vast/projects/posa/contact-rich-robot/belt_perception):
+    ## main...origin/main
+
+Preflight passed. Safe to edit in this worktree.
+{
+  "dependency_paths": {
+    "gsplat": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/gsplat"
+    ],
+    "newton": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/third_party/newton/newton/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/third_party/newton/newton"
+    ],
+    "torch": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/torch"
+    ],
+    "warp": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/lib/python3.11/site-packages/warp"
+    ]
+  },
+  "errors": [],
+  "expected": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "5be01e74d32c3fca512e45ac4ace78d7ee131fff",
+    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
+  },
+  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv/.belt_perception_environment.json",
+  "observed": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "5be01e74d32c3fca512e45ac4ace78d7ee131fff",
+    "uv_lock_sha256": "6e8011c1f0a92928d3f9ad31438914b0830396429c08dd46983054c52fcbf0ef"
+  },
+  "ok": true
+}
+[run_single_task] job_id=9053054 host=dgx028.cm.cluster
+[run_single_task] execution_environment=parcc profile=parcc-e2e
+[run_single_task] worktree=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014 commit=5be01e74d32c3fca512e45ac4ace78d7ee131fff uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d2_sloth_ep0_fit_parcc_20261014/.venv
+[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/photometric_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d2-photometric-20261014/slurm/u08c-d2-photometric_9053054.err
+NVIDIA B200, GPU-197331cb-7d82-d9bd-b60e-b8bfee95a139
+[run_single_task] command=bash /vast/projects/posa/contact-rich-robot/runs/u08c-d2-sloth-ep0-20261014/launch/photometric_chain.sh 
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/warp-cache/1.16.0
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 3278.03 ms  (compiled)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d2-photometric-20261014/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 29.92 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 22.29 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 17.84 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 20.14 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 17.91 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 19.40 ms  (cached)
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 388.39 ms  (compiled)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 395.40 ms  (compiled)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 432.31 ms  (compiled)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 303.10 ms  (compiled)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 384.76 ms  (compiled)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 477.47 ms  (compiled)
+{
+  "status": "completed"
+}
+[photometric_chain] DP5 exit 0 at 2026-10-16T09:40:29Z; binding
+/vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D2_090-sloth_ep0/online/online_parent.json
+[photometric_chain] binding written at 2026-10-16T09:40:58Z
+[run_single_task] exit_status=0

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/boundary.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "boundary",
+  "executed_epochs": 500,
+  "score": null,
+  "best_score": 0.08707057683511617,
+  "patience_epochs": 0,
+  "window_start_score": null,
+  "leaf_names": [
+    "log_object_edge_stiffness",
+    "raw_ground_friction",
+    "raw_ground_restitution",
+    "log_controller_edge_stiffness"
+  ],
+  "lr": 0.001,
+  "betas": [
+    0.9,
+    0.99
+  ],
+  "eps": 1e-08,
+  "spring_y_clamp": [
+    0.0,
+    100000.0
+  ],
+  "ground_restitution_clamp": [
+    0.0,
+    1.0
+  ],
+  "ground_friction_clamp": [
+    0.0,
+    2.0
+  ],
+  "clamp_at_use_only": true,
+  "metric_role": "all_data_in_sample",
+  "arrays_file": "boundary_6cb795be4bab42ec8ebc9007a889d4f7.npz",
+  "optimizer_file": "boundary_6cb795be4bab42ec8ebc9007a889d4f7_optimizer.pt",
+  "arrays_sha256": "bd34f7da1ea56ceac6087d1529ebbc130de2dcdbcc5b3363c148d06bc3626ea0",
+  "optimizer_sha256": "c832c91ac6b5d6183ef756e28e0a67ae7ebb83bfc692c3eaae8bb74a40daa531",
+  "stage": "adam",
+  "completed_passes": 500,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 84000,
+  "adam_update_count": 84000,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 501,
+    "consumed_count": 500,
+    "last_submitted_update": 84000,
+    "last_consumed_update": 83832,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 84000,
+          "completed_passes": 500,
+          "next_interval": 0,
+          "trained_intervals": 84000,
+          "snapshot": "pass_end_0500",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 83496,
+  "pass_science": {
+    "completed_passes": 500,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 84000,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 84000,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00017395448230672628,
+            "update_l2": 0.05861193314194679
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 2.073773430311121e-05,
+            "update_l2": 0.0036269482225179672
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10638005308388837,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 25639,
+          "attachment": 126,
+          "ground": 2
+        },
+        "ground_context": {
+          "ground_friction/raw": 2.005976915359497,
+          "ground_friction/effective": 2.0,
+          "ground_friction/clamp_changed": 1,
+          "ground_restitution/raw": -0.0029794860165566206,
+          "ground_restitution/effective": 0.0,
+          "ground_restitution/clamp_changed": 1,
+          "ground_friction/contact_active": null,
+          "ground_restitution/contact_active": null
+        },
+        "photometric_transition": {
+          "transition_index": 167,
+          "loss": 0.10638005308388837,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03364551439881325,
+            "ssim_fused": 0.8940118551254272,
+            "seg_l1": 0.04631984233856201,
+            "seg_ssim_ref": 0.8940105438232422,
+            "depth": 0.01223779796727131,
+            "rgb_loss": 0.048114046454429626,
+            "seg_loss": 0.05825376510620117,
+            "total": 0.10638005308388837
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05148902162909508,
+              "ssim_fused": 0.8757727742195129,
+              "seg_l1": 0.06153467297554016,
+              "seg_ssim_ref": 0.8757721781730652,
+              "depth": 0.0193962789157866,
+              "rgb_loss": 0.0660366639494896,
+              "seg_loss": 0.07407330721616745,
+              "total": 0.14012936744457283,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.0193962789157866,
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