processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking: layout switch step 14/31: switch processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking

.gitattributes

@@ -53,3 +53,4 @@ processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/archives/members.js
 processed/001-rope/episode_0/runs/deform-rope-ep0-e2/containers/index.json filter=lfs diff=lfs merge=lfs -text
 processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text
 processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text
+processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/containers/index.json filter=lfs diff=lfs merge=lfs -text

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/README.md

@@ -12,7 +12,8 @@ Deform360 sloth episode 3 (U08c D4) tracking fit: source CMA (100 generations) t
 | Labels | BEST adam/pass_end_0462, FINAL adam/pass_end_0500 |
 | Code revision(s) | `8aba227de0e1a33bbfbf751ac353626637603a37`; dirty tree by stage: cma reported clean, adam reported clean |
 | Checkpoint rows | 611 (`checkpoints.tsv`) |
-| Archived native records | 1,627 per-step history files in 9 tar archives (owner D25), 79,500 per-update records in 8 (owner D16); `archives/members.json` lists each member's native path and sha256, and `checkpoints.tsv` still lists every checkpoint file |
+| Containers | 82,338 native and evidence files packed in 9 uncompressed tar containers by category (adam_pass_record 1, adam_state_bundle 2, adam_update_rows 1, cma_generation_state 1, frozen_score 1, frozen_score_arrays 1, logs 1, records 1); `containers/index.json` lists each member's path, offset, size and sha256, and `checkpoints.tsv` still lists every checkpoint file |
+| Native file count | 82,338 files (3,034,198,781 B); the earlier record counted 2,838, omitting the per-update records it had archived (owner D16) |
 
 ## Stages
 

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processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/{archives/adam_epochs_updates_000001-010000.tar → containers/index.json}

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processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-tracking_9324030.err

@@ -1,45 +0,0 @@
-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 e56ab825fb644b1d
-wandb: Tracking run with wandb version 0.28.2
-wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261022_160534-e56ab825fb644b1d
-wandb: Run `wandb offline` to turn off syncing.
-wandb: Syncing run DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022
-wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
-wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/e56ab825fb644b1d
-wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
-/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/cma/utilities/utils.py:369: UserWarning: seed=42 will never be used (seed is only used if option 'randn' is np.random.randn) (time=Oct 22 16:06:14 2026)
-  warnings.warn(msg + ' (time={}'.format(time.asctime()[4:]) +
-wandb: updating run metadata
-wandb: uploading wandb-summary.json; uploading config.yaml
-wandb: 
-wandb: Run history:
-wandb:       deform/adam_progress/checkpoint_bytes ▁▂▃▅▅▅▆▆▆▆▆▆▆▆▇▇▇▇▇▇▇▇▇▇▇███████████████
-wandb:           deform/adam_progress/checkpoint_s ▅█▆▃▅▂▆▃▆▂▅▃▂▃▃▂▃▂▁▂▂▁▃▂▂▁▃▃▆▁▂▄▄▂▁▄▁▂▁▂
-wandb:       deform/adam_progress/completed_passes ▁▁▁▂▂▂▂▃▃▃▃▃▃▃▃▃▃▃▃▄▄▄▄▅▅▅▅▅▆▆▆▇▇▇▇▇▇▇██
-wandb:              deform/adam_progress/elapsed_s ▁▁▁▂▂▂▂▂▃▃▃▃▄▄▄▄▄▄▄▄▅▅▅▅▅▆▆▆▆▆▆▇▇▇▇▇▇███
-wandb:          deform/adam_progress/next_interval ▂▇▂▆▅▂▅▄▄▇▂█▅█▅█▅▅▇▄▅▆▃▃▁▅▇▃▅▂▃▆▂▅▇▄▂▃▅█
-wandb: deform/adam_progress/partial_pass_intervals ▅█▂▁█▃▂▂▄▇▁█▃▁▁▄▇▁▁▄▃▄▄▇▂▅▆▁▅▅█▂▃▅▁▆▅▅█▃
-wandb:                 deform/adam_progress/pass_s ▇█▆▅▄▄▃▃▂▃▃▃▃▃▃▃▂▂▂▂▂▂▂▂▁▂▂▃▂▂▂▂▂▁▂▁▂▁▁▁
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-wandb:      deform/adam_progress/trained_intervals ▁▁▁▁▁▂▂▂▂▂▃▃▃▃▃▃▃▄▄▄▅▅▅▅▆▆▆▆▆▆▆▆▆▇▇▇▇███
-wandb:               deform/adam_progress/update_s ▁▁▁▁▁▅▁▁▁▁▁▁▁█▁▂▁▁▁▁▁▁▁▁▁▇▁▁▁▁▁▁▁▁▁▁▁▁▁▁
-wandb:                                        +292 ...
-wandb: 
-wandb: Run summary:
-wandb:       deform/adam_progress/checkpoint_bytes 3281132
-wandb:           deform/adam_progress/checkpoint_s 0.32908
-wandb:       deform/adam_progress/completed_passes 500
-wandb:              deform/adam_progress/elapsed_s 40143.98125
-wandb:          deform/adam_progress/next_interval 0
-wandb: deform/adam_progress/partial_pass_intervals 0
-wandb:                 deform/adam_progress/pass_s 59.77555
-wandb:     deform/adam_progress/successful_updates 79500
-wandb:      deform/adam_progress/trained_intervals 79500
-wandb:               deform/adam_progress/update_s 0.07929
-wandb:                                        +295 ...
-wandb: 
-wandb: 🚀 View run DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/e56ab825fb644b1d
-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-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261022_160534-e56ab825fb644b1d/logs

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-tracking_9324030.out

@@ -1,226 +0,0 @@
-{
-  "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_d4_sloth_ep3_fit_parcc_20261022",
-  "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_d4_sloth_ep3_fit_parcc_20261022
-  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022
-  branch:           cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
-  belt.agentGuards: true
-  core.hooksPath:   scripts/git-hooks
-  marker.branch:          cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
-  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_d4_sloth_ep3_fit_parcc_20261022
-  marker.base_commit:     50403540738fd45263b4b81c0ec1d1ab25d653f0
-  marker.created_at:      2026-10-22T14:49:06Z
-  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_d4_sloth_ep3_fit_parcc_20261022
-  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_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat"
-    ],
-    "newton": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton"
-    ],
-    "torch": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch"
-    ],
-    "warp": [
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp/__init__.py",
-      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp"
-    ]
-  },
-  "errors": [],
-  "expected": {
-    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
-    "profile": "parcc-e2e",
-    "schema_version": "belt-perception-parcc-environment-v1",
-    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
-    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
-  },
-  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/.belt_perception_environment.json",
-  "observed": {
-    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
-    "profile": "parcc-e2e",
-    "schema_version": "belt-perception-parcc-environment-v1",
-    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
-    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
-  },
-  "ok": true
-}
-[run_single_task] job_id=9324030 host=dgx029.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_d4_sloth_ep3_fit_parcc_20261022 commit=8aba227de0e1a33bbfbf751ac353626637603a37 uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv
-[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/tracking_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-tracking-20261022/slurm/u08c-d4-tracking_9324030.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d4-tracking-20261022/slurm/u08c-d4-tracking_9324030.err
-NVIDIA B200, GPU-78d2f1b1-98f5-9b60-a973-94f775728223
-[run_single_task] command=env WANDB_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs WANDB_DATA_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/data WANDB_CACHE_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/cache WANDB_ARTIFACT_DIR=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/artifacts python scripts/hpc/with_wandb_auth.py --wandb-key-file /vast/projects/posa/contact-rich-robot/private/leonmkim/wandb-key -- python scripts/run_observation_reference_fit.py fit --inputs /vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08b_D4_090-sloth_ep3/fit_inputs/inputs --output /vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D4_090-sloth_ep3/tracking/fit --device cuda:0 --execution-mode atomic_captured --max-cma-generations 100 --adam-passes 500 --observation-mode online --observation-root /vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D4_090-sloth_ep3/tracking/telemetry --observation-run-name DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 --observation-entity serialexperimentsleon --observation-project belt_perception --observation-approved-run-name DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022 --observation-approved-entity serialexperimentsleon --observation-approved-project belt_perception --observation-approved-payload DEFORM360_scalars_guide 
-Warp 1.16.0 initialized:
-   CUDA Toolkit 12.9, Driver 13.0
-   Devices:
-     "cpu"      : "x86_64"
-     "cuda:0"   : "NVIDIA B200 MIG 3g.90gb" (89 GiB, sm_100, mempool enabled)
-   Kernel cache:
-     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/warp-cache/1.16.0
-Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1663.84 ms  (compiled)
-Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1141.10 ms  (compiled)
-Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 461.40 ms  (compiled)
-Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 280.66 ms  (compiled)
-Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 345.26 ms  (compiled)
-Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 428.99 ms  (compiled)
-Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 776.20 ms  (compiled)
-Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 1971.93 ms  (compiled)
-(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Thu Oct 22 16:06:14 2026)
-Warp 1.16.0 initialized:
-   CUDA Toolkit 12.9, Driver 13.0
-   Devices:
-     "cpu"      : "x86_64"
-     "cuda:0"   : "NVIDIA B200 MIG 3g.90gb" (89 GiB, sm_100, mempool enabled)
-   Kernel cache:
-     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-tracking-20261022/warp-cache/1.16.0
-Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 23.31 ms  (cached)
-Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 22.23 ms  (cached)
-Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 21.66 ms  (cached)
-Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 23.07 ms  (cached)
-Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 19.34 ms  (cached)
-Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 24.74 ms  (cached)
-Module belt_perception.physics.mass_spring.tracked_observation_loss fda41fb load on device 'cuda:0' took 29.36 ms  (cached)
-{
-  "status": "completed_lifecycle",
-  "trajectory_id": "deform360_090-sloth_episode_3_aligned_45_204",
-  "cma": {
-    "completed_generations": 100,
-    "completed_evaluations": 1100,
-    "stopped_reason": "max_generations",
-    "native_stop_reasons": {},
-    "hard_generation_cap_reached": true,
-    "generation_cap": 100,
-    "champion": {
-      "global_serial_ask_index": 1086,
-      "generation": 98,
-      "J_CMA": 0.00011511082275376696,
-      "J_obs": 0.00011102074952891284,
-      "physical_parameters": {
-        "spring_Y": 1313.4894644009341,
-        "object_radius": 0.024635409600684485,
-        "object_max_neighbours": 45,
-        "controller_radius": 0.011180130961605651,
-        "controller_max_neighbours": 40,
-        "collide_elas": 0.8639818136398475,
-        "collide_fric": 1.9773554052679305,
-        "collide_object_elas": 0.8685799309199008,
-        "collide_object_fric": 1.522736527039257,
-        "collision_dist": 0.034614494320982694,
-        "drag_damping": 15.80029852806369,
-        "dashpot_damping": 137.10241594384635
-      },
-      "object_edges": 208310,
-      "controller_edges": 436
-    }
-  },
-  "adam": {
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-    "cumulative_optimizer_updates": 79500,
-    "completed_passes": 500,
-    "trained_intervals": 79500,
-    "next_interval": 0,
-    "best_source_update": 73458,
-    "best_score": 2.1710459398908933e-05,
-    "final_score": 4.458684142372928e-05,
-    "score_cadence": "pass_end",
-    "scored_candidates": 501,
-    "scoring_intervals": 79659,
-    "async_scoring": {
-      "queue": "pass_snapshot_references_v2",
-      "submitted": 501,
-      "consumed": 501,
-      "reused_persisted_results": 0,
-      "evaluated_this_process": 501,
-      "max_pending_references": 1,
-      "consumed_during_training_this_process": 500,
-      "nonfinite_scored_candidates": [],
-      "final_snapshot": "pass_end_0500"
-    },
-    "pass_snapshots": 501,
-    "update_budget": 79500,
-    "partial_final_pass": false
-  },
-  "telemetry": {
-    "readiness": {
-      "status": "confirmed",
-      "probe_record": 0,
-      "readiness": {
-        "record": 0,
-        "step": 0,
-        "status": "confirmed",
-        "remote_run_id_matches": true,
-        "remote_last_step": 0,
-        "row_readback": "matched",
-        "mismatched_keys": [],
-        "config_readback": true,
-        "elapsed_s": 16.376999515108764
-      },
-      "run_id": "e56ab825fb644b1d",
-      "target": {
-        "entity": "serialexperimentsleon",
-        "project": "belt_perception",
-        "run_name": "DEFORM360_U08C_D4_sloth_ep3_45_204_tracking_20261022"
-      },
-      "heavy_modules": []
-    },
-    "close": {
-      "status": "clean",
-      "exitcode": 0,
-      "backlog": {
-        "collector_producer_backlog_bytes": 0,
-        "journal_records": 106858,
-        "journal_bytes": 231157270,
-        "sdk_submitted_records": 106858,
-        "publisher_backlog_records": 0,
-        "uncertain_records": 0,
-        "delivery": "submitted"
-      },
-      "collection": {
-        "hook_errors": {},
-        "missing_parameter_samples": [],
-        "unreported_parameter_gaps": [],
-        "producer_errors": {
-          "1": 0
-        }
-      },
-      "fit": "completed",
-      "producer_errors": 0,
-      "producer_last_error": null
-    }
-  }
-}
-[run_single_task] exit_status=0

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-tracking/native/adam_epochs/boundary.json

@@ -1,254 +0,0 @@
-{
-  "schema_version": "p12_privileged_adam_checkpoint.v1",
-  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
-  "label": "boundary",
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-  "eps": 1e-08,
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-    100000.0
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-  "ground_restitution_clamp": [
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-    1.0
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-  "ground_friction_clamp": [
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-    2.0
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-  "clamp_at_use_only": true,
-  "metric_role": "all_data_in_sample",
-  "arrays_file": "boundary_9853b825dc5e4bd2ab94afa96fed41d2.npz",
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