processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking: payload batch 29/29
Browse files- processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/cma_generations/generation_084_models.npz +3 -0
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+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f08d0fefabcccfb4d4c75c0df3c02e251479503cf2ca8bd516c83f44e38bb313
|
| 3 |
+
size 4867913
|
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/inputs/fit_inputs.json
ADDED
|
@@ -0,0 +1,1968 @@
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| 1 |
+
{
|
| 2 |
+
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
+
"episode_path": "processed/001-rope/episode_2",
|
| 12 |
+
"grasp_assumption": "grasp-change mismatch; fixed attachments across partial release 114..156"
|
| 13 |
+
},
|
| 14 |
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"registration": {
|
| 15 |
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"frame_id": "deform360_ep0_support_registered_v1",
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| 16 |
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| 17 |
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[
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| 18 |
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| 19 |
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|
| 20 |
+
5.708251704855727e-05,
|
| 21 |
+
0.0
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| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
+
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| 28 |
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],
|
| 29 |
+
[
|
| 30 |
+
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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[
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| 36 |
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| 37 |
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| 38 |
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|
| 39 |
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| 40 |
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]
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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"rule": "lowest published tracked point over explicit static frames",
|
| 48 |
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|
| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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},
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| 60 |
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|
| 61 |
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},
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 81 |
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| 87 |
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|
| 1848 |
+
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|
| 1849 |
+
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|
| 1850 |
+
}
|
| 1851 |
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},
|
| 1852 |
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|
| 1853 |
+
"coordinate_frame": "deform360_ep0_support_registered_v1",
|
| 1854 |
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|
| 1855 |
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|
| 1856 |
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|
| 1857 |
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|
| 1858 |
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},
|
| 1859 |
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|
| 1860 |
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|
| 1861 |
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|
| 1862 |
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|
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|
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|
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|
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|
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|
| 1868 |
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|
| 1869 |
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|
| 1870 |
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|
| 1871 |
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|
| 1872 |
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|
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|
| 1874 |
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|
| 1875 |
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|
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|
| 1877 |
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|
| 1878 |
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|
| 1879 |
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|
| 1880 |
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|
| 1881 |
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|
| 1882 |
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|
| 1883 |
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|
| 1884 |
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|
| 1885 |
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|
| 1886 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 1919 |
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|
| 1920 |
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|
| 1921 |
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],
|
| 1922 |
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|
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|
| 1924 |
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|
| 1925 |
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|
| 1926 |
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|
| 1927 |
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"observations": {
|
| 1928 |
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"camera_ids": [
|
| 1929 |
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|
| 1930 |
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|
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|
| 1932 |
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|
| 1933 |
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|
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|
| 1935 |
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|
| 1936 |
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|
| 1937 |
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|
| 1938 |
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|
| 1939 |
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|
| 1940 |
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"brics-odroid-010_cam1",
|
| 1941 |
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"brics-odroid-011_cam0",
|
| 1942 |
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|
| 1943 |
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|
| 1944 |
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| 1945 |
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|
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|
| 1948 |
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|
| 1949 |
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|
| 1950 |
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|
| 1951 |
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|
| 1952 |
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"brics-odroid-019_cam1",
|
| 1953 |
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"brics-odroid-021_cam0",
|
| 1954 |
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|
| 1955 |
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"brics-odroid-022_cam0",
|
| 1956 |
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"brics-odroid-022_cam1",
|
| 1957 |
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|
| 1958 |
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|
| 1959 |
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|
| 1960 |
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|
| 1961 |
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"brics-odroid-025_cam1",
|
| 1962 |
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|
| 1963 |
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"brics-odroid-027_cam1",
|
| 1964 |
+
"brics-odroid-028_cam0"
|
| 1965 |
+
]
|
| 1966 |
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}
|
| 1967 |
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}
|
| 1968 |
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}
|
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ADDED
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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| 16 |
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|
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|
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|
| 19 |
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],
|
| 20 |
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"registration_source": "/mnt/data0/magna/belt_perception_runs/U08b_D1_001-rope_ep2_64_230/qualification/ground_review.md",
|
| 21 |
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"ground_clip_applied": true,
|
| 22 |
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"controller_gate": {
|
| 23 |
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"reference": "all_initialized_model_particles_after_priority_voxels",
|
| 24 |
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"reference_count": 1327,
|
| 25 |
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"radius_m": 0.04,
|
| 26 |
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"inclusive": true,
|
| 27 |
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"sample": "initial_only",
|
| 28 |
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"downselection": "source Open3D FPS30",
|
| 29 |
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"eligible_count": 711
|
| 30 |
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}
|
| 31 |
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}
|
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/inputs/source_initialization.npz
ADDED
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ADDED
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processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/observation_fit_inputs.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"method_id": "prepared_observation_source_cma_then_source_adam_v1",
|
| 3 |
+
"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
|
| 4 |
+
"controller_law_id": "source_strain_log_y_prescribed_qv_v1",
|
| 5 |
+
"execution_mode": "atomic_captured",
|
| 6 |
+
"adam_schedule_id": "observation_source_transition_pass_end_scores_v1",
|
| 7 |
+
"adam_schedule": "source_transition_v1",
|
| 8 |
+
"adam_transition_batch_size": 1,
|
| 9 |
+
"diagnostic_fixture": false,
|
| 10 |
+
"fit_policy": {
|
| 11 |
+
"policy": "deform360_d_budget_v1",
|
| 12 |
+
"cma_population": 11,
|
| 13 |
+
"cma_seed": 42,
|
| 14 |
+
"cma_native_stopping": true,
|
| 15 |
+
"cma_max_generations": 100,
|
| 16 |
+
"cma_max_asks": 1100,
|
| 17 |
+
"cma_objective": "J_CMA = mean_t(C_t + T_t + A_t), candidate-local acceleration history",
|
| 18 |
+
"cma_physical_nonfinite_score": "+infinity",
|
| 19 |
+
"cma_resample_failed": false,
|
| 20 |
+
"adam_schedule": "source_transition_v1",
|
| 21 |
+
"adam_transition_batch_size": 1,
|
| 22 |
+
"adam_passes": 500,
|
| 23 |
+
"transitions_per_pass": 166,
|
| 24 |
+
"adam_updates": 83000,
|
| 25 |
+
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| 1924 |
+
70,
|
| 1925 |
+
71,
|
| 1926 |
+
72,
|
| 1927 |
+
73,
|
| 1928 |
+
74,
|
| 1929 |
+
75,
|
| 1930 |
+
76,
|
| 1931 |
+
77,
|
| 1932 |
+
78,
|
| 1933 |
+
79,
|
| 1934 |
+
80,
|
| 1935 |
+
81,
|
| 1936 |
+
82,
|
| 1937 |
+
83,
|
| 1938 |
+
84,
|
| 1939 |
+
85,
|
| 1940 |
+
86,
|
| 1941 |
+
87,
|
| 1942 |
+
88,
|
| 1943 |
+
89,
|
| 1944 |
+
90,
|
| 1945 |
+
91,
|
| 1946 |
+
92,
|
| 1947 |
+
93,
|
| 1948 |
+
94,
|
| 1949 |
+
95,
|
| 1950 |
+
96,
|
| 1951 |
+
97,
|
| 1952 |
+
98,
|
| 1953 |
+
99,
|
| 1954 |
+
100,
|
| 1955 |
+
101,
|
| 1956 |
+
102,
|
| 1957 |
+
103,
|
| 1958 |
+
104,
|
| 1959 |
+
105,
|
| 1960 |
+
106,
|
| 1961 |
+
107,
|
| 1962 |
+
108,
|
| 1963 |
+
109,
|
| 1964 |
+
110,
|
| 1965 |
+
111,
|
| 1966 |
+
112,
|
| 1967 |
+
113,
|
| 1968 |
+
114,
|
| 1969 |
+
115,
|
| 1970 |
+
116,
|
| 1971 |
+
117,
|
| 1972 |
+
118,
|
| 1973 |
+
119,
|
| 1974 |
+
120,
|
| 1975 |
+
121,
|
| 1976 |
+
122,
|
| 1977 |
+
123,
|
| 1978 |
+
124,
|
| 1979 |
+
125,
|
| 1980 |
+
126,
|
| 1981 |
+
127,
|
| 1982 |
+
128,
|
| 1983 |
+
129,
|
| 1984 |
+
130,
|
| 1985 |
+
131,
|
| 1986 |
+
132,
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| 1987 |
+
133,
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| 1988 |
+
134,
|
| 1989 |
+
135,
|
| 1990 |
+
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| 1991 |
+
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|
| 1992 |
+
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|
| 1993 |
+
139,
|
| 1994 |
+
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| 1995 |
+
141,
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| 1996 |
+
142,
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| 1997 |
+
143,
|
| 1998 |
+
144,
|
| 1999 |
+
145,
|
| 2000 |
+
146,
|
| 2001 |
+
147,
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| 2002 |
+
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| 2003 |
+
149,
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| 2004 |
+
150,
|
| 2005 |
+
151,
|
| 2006 |
+
152,
|
| 2007 |
+
153,
|
| 2008 |
+
154,
|
| 2009 |
+
155,
|
| 2010 |
+
156,
|
| 2011 |
+
157,
|
| 2012 |
+
158,
|
| 2013 |
+
159,
|
| 2014 |
+
160,
|
| 2015 |
+
161,
|
| 2016 |
+
162,
|
| 2017 |
+
163,
|
| 2018 |
+
164,
|
| 2019 |
+
165,
|
| 2020 |
+
166,
|
| 2021 |
+
167,
|
| 2022 |
+
168,
|
| 2023 |
+
169,
|
| 2024 |
+
170,
|
| 2025 |
+
171,
|
| 2026 |
+
172,
|
| 2027 |
+
173,
|
| 2028 |
+
174,
|
| 2029 |
+
175,
|
| 2030 |
+
176,
|
| 2031 |
+
177,
|
| 2032 |
+
178,
|
| 2033 |
+
179,
|
| 2034 |
+
180,
|
| 2035 |
+
181,
|
| 2036 |
+
182,
|
| 2037 |
+
183,
|
| 2038 |
+
184,
|
| 2039 |
+
185,
|
| 2040 |
+
186,
|
| 2041 |
+
187,
|
| 2042 |
+
188,
|
| 2043 |
+
189,
|
| 2044 |
+
190,
|
| 2045 |
+
191,
|
| 2046 |
+
192,
|
| 2047 |
+
193,
|
| 2048 |
+
194,
|
| 2049 |
+
195,
|
| 2050 |
+
196,
|
| 2051 |
+
197,
|
| 2052 |
+
198,
|
| 2053 |
+
199,
|
| 2054 |
+
200,
|
| 2055 |
+
201,
|
| 2056 |
+
202,
|
| 2057 |
+
203,
|
| 2058 |
+
204,
|
| 2059 |
+
205,
|
| 2060 |
+
206,
|
| 2061 |
+
207,
|
| 2062 |
+
208,
|
| 2063 |
+
209,
|
| 2064 |
+
210,
|
| 2065 |
+
211,
|
| 2066 |
+
212,
|
| 2067 |
+
213,
|
| 2068 |
+
214,
|
| 2069 |
+
215,
|
| 2070 |
+
216,
|
| 2071 |
+
217,
|
| 2072 |
+
218,
|
| 2073 |
+
219,
|
| 2074 |
+
220,
|
| 2075 |
+
221,
|
| 2076 |
+
222,
|
| 2077 |
+
223,
|
| 2078 |
+
224,
|
| 2079 |
+
225,
|
| 2080 |
+
226,
|
| 2081 |
+
227,
|
| 2082 |
+
228,
|
| 2083 |
+
229,
|
| 2084 |
+
230
|
| 2085 |
+
]
|
| 2086 |
+
},
|
| 2087 |
+
"privileged_evaluation": {
|
| 2088 |
+
"status": "unavailable",
|
| 2089 |
+
"reason": "real trajectory has no privileged state/parameters"
|
| 2090 |
+
}
|
| 2091 |
+
}
|
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/run_result.json
ADDED
|
@@ -0,0 +1,281 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"status": "completed_lifecycle",
|
| 3 |
+
"method_id": "prepared_observation_source_cma_then_source_adam_v1",
|
| 4 |
+
"diagnostic_fixture": false,
|
| 5 |
+
"trajectory_id": "deform360_001-rope_episode_2_aligned_64_230",
|
| 6 |
+
"execution_mode": "atomic_captured",
|
| 7 |
+
"device": "cuda:0",
|
| 8 |
+
"fit_policy": {
|
| 9 |
+
"policy": "deform360_d_budget_v1",
|
| 10 |
+
"cma_population": 11,
|
| 11 |
+
"cma_seed": 42,
|
| 12 |
+
"cma_native_stopping": true,
|
| 13 |
+
"cma_max_generations": 100,
|
| 14 |
+
"cma_max_asks": 1100,
|
| 15 |
+
"cma_objective": "J_CMA = mean_t(C_t + T_t + A_t), candidate-local acceleration history",
|
| 16 |
+
"cma_physical_nonfinite_score": "+infinity",
|
| 17 |
+
"cma_resample_failed": false,
|
| 18 |
+
"adam_schedule": "source_transition_v1",
|
| 19 |
+
"adam_transition_batch_size": 1,
|
| 20 |
+
"adam_passes": 500,
|
| 21 |
+
"transitions_per_pass": 166,
|
| 22 |
+
"adam_updates": 83000,
|
| 23 |
+
"partial_final_pass": false,
|
| 24 |
+
"adam_objective": "L_t = C_t + T_t; Warp tape seeds; unscaled per-transition gradients",
|
| 25 |
+
"score_candidates": "Adam0 (exact CMA model) and every completed pass end",
|
| 26 |
+
"frozen_scores": 501,
|
| 27 |
+
"frozen_score_transitions": 83166,
|
| 28 |
+
"frozen_score": "J_obs = mean_t(C_t + T_t); C/T/A and J_CMA reported beside it",
|
| 29 |
+
"selection": "lowest_finite_frozen_J_obs_earliest_source_update_tie",
|
| 30 |
+
"score_execution": "nonblocking: immutable pass snapshot committed first, then scored by a separate spawned scorer process with its own runtime/objective/workspace; training only polls ready results; source-update-ordered BEST; final drain after training",
|
| 31 |
+
"software_defect_or_oom": "error"
|
| 32 |
+
},
|
| 33 |
+
"roles": {
|
| 34 |
+
"n_original": 1327,
|
| 35 |
+
"n_surface": 1327,
|
| 36 |
+
"n_all": 1327,
|
| 37 |
+
"n_controllers": 30,
|
| 38 |
+
"transitions": 166,
|
| 39 |
+
"aligned_frame_ids": [
|
| 40 |
+
64,
|
| 41 |
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65,
|
| 42 |
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66,
|
| 43 |
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67,
|
| 44 |
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68,
|
| 45 |
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69,
|
| 46 |
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70,
|
| 47 |
+
71,
|
| 48 |
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72,
|
| 49 |
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73,
|
| 50 |
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74,
|
| 51 |
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75,
|
| 52 |
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76,
|
| 53 |
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77,
|
| 54 |
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78,
|
| 55 |
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79,
|
| 56 |
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80,
|
| 57 |
+
81,
|
| 58 |
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82,
|
| 59 |
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83,
|
| 60 |
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84,
|
| 61 |
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85,
|
| 62 |
+
86,
|
| 63 |
+
87,
|
| 64 |
+
88,
|
| 65 |
+
89,
|
| 66 |
+
90,
|
| 67 |
+
91,
|
| 68 |
+
92,
|
| 69 |
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93,
|
| 70 |
+
94,
|
| 71 |
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95,
|
| 72 |
+
96,
|
| 73 |
+
97,
|
| 74 |
+
98,
|
| 75 |
+
99,
|
| 76 |
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100,
|
| 77 |
+
101,
|
| 78 |
+
102,
|
| 79 |
+
103,
|
| 80 |
+
104,
|
| 81 |
+
105,
|
| 82 |
+
106,
|
| 83 |
+
107,
|
| 84 |
+
108,
|
| 85 |
+
109,
|
| 86 |
+
110,
|
| 87 |
+
111,
|
| 88 |
+
112,
|
| 89 |
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113,
|
| 90 |
+
114,
|
| 91 |
+
115,
|
| 92 |
+
116,
|
| 93 |
+
117,
|
| 94 |
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118,
|
| 95 |
+
119,
|
| 96 |
+
120,
|
| 97 |
+
121,
|
| 98 |
+
122,
|
| 99 |
+
123,
|
| 100 |
+
124,
|
| 101 |
+
125,
|
| 102 |
+
126,
|
| 103 |
+
127,
|
| 104 |
+
128,
|
| 105 |
+
129,
|
| 106 |
+
130,
|
| 107 |
+
131,
|
| 108 |
+
132,
|
| 109 |
+
133,
|
| 110 |
+
134,
|
| 111 |
+
135,
|
| 112 |
+
136,
|
| 113 |
+
137,
|
| 114 |
+
138,
|
| 115 |
+
139,
|
| 116 |
+
140,
|
| 117 |
+
141,
|
| 118 |
+
142,
|
| 119 |
+
143,
|
| 120 |
+
144,
|
| 121 |
+
145,
|
| 122 |
+
146,
|
| 123 |
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147,
|
| 124 |
+
148,
|
| 125 |
+
149,
|
| 126 |
+
150,
|
| 127 |
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151,
|
| 128 |
+
152,
|
| 129 |
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153,
|
| 130 |
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154,
|
| 131 |
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155,
|
| 132 |
+
156,
|
| 133 |
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157,
|
| 134 |
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158,
|
| 135 |
+
159,
|
| 136 |
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160,
|
| 137 |
+
161,
|
| 138 |
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162,
|
| 139 |
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163,
|
| 140 |
+
164,
|
| 141 |
+
165,
|
| 142 |
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166,
|
| 143 |
+
167,
|
| 144 |
+
168,
|
| 145 |
+
169,
|
| 146 |
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170,
|
| 147 |
+
171,
|
| 148 |
+
172,
|
| 149 |
+
173,
|
| 150 |
+
174,
|
| 151 |
+
175,
|
| 152 |
+
176,
|
| 153 |
+
177,
|
| 154 |
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178,
|
| 155 |
+
179,
|
| 156 |
+
180,
|
| 157 |
+
181,
|
| 158 |
+
182,
|
| 159 |
+
183,
|
| 160 |
+
184,
|
| 161 |
+
185,
|
| 162 |
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186,
|
| 163 |
+
187,
|
| 164 |
+
188,
|
| 165 |
+
189,
|
| 166 |
+
190,
|
| 167 |
+
191,
|
| 168 |
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