processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo: payload batch 19/26

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0274.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0274",
+  "executed_epochs": 274,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_253ea80e2b9c4496a8ca664d751b772f.npz",
+  "optimizer_file": "boundary_253ea80e2b9c4496a8ca664d751b772f_optimizer.pt",
+  "arrays_sha256": "6bc7a185677bea5796f28f656027f9ff54918f337611eb0140cff75af0849daf",
+  "optimizer_sha256": "6993b0e5038aa9c5a886b0994f407d4015f2de9741854473d52c56f2faf4b4af",
+  "stage": "adam",
+  "completed_passes": 274,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46032,
+  "adam_update_count": 46032,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 275,
+    "consumed_count": 274,
+    "last_submitted_update": 46032,
+    "last_consumed_update": 45864,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46032,
+          "completed_passes": 274,
+          "next_interval": 0,
+          "trained_intervals": 46032,
+          "snapshot": "pass_end_0274",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 274,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46032,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46032,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00014725497749168426,
+            "update_l2": 0.07381974905729294
+          },
+          "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": 2.9375736630754545e-05,
+            "update_l2": 0.0026264339685440063
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11022985004032054,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23272,
+          "attachment": 120,
+          "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": 1,
+          "ground_restitution/contact_active": 1
+        },
+        "photometric_transition": {
+          "transition_index": 167,
+          "loss": 0.11022985004032054,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03478017449378967,
+            "ssim_fused": 0.891234278678894,
+            "seg_l1": 0.048607729375362396,
+            "seg_ssim_ref": 0.8912331461906433,
+            "depth": 0.01301266396441969,
+            "rgb_loss": 0.049577273428440094,
+            "seg_loss": 0.06063956022262573,
+            "total": 0.11022985004032054
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052133169025182724,
+              "ssim_fused": 0.8741999268531799,
+              "seg_l1": 0.06319423764944077,
+              "seg_ssim_ref": 0.874199390411377,
+              "depth": 0.020044583893914242,
+              "rgb_loss": 0.06686654686927795,
+              "seg_loss": 0.07571551203727722,
+              "total": 0.14260210349044908,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.020044583893914242,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014554360369608686
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.039305590093135834,
+              "ssim_fused": 0.8758041858673096,
+              "seg_l1": 0.06467200815677643,
+              "seg_ssim_ref": 0.875802755355835,
+              "depth": 0.01498089886534804,
+              "rgb_loss": 0.05628363415598869,
+              "seg_loss": 0.07657705247402191,
+              "total": 0.13287567125416624,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01498089886534804,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01188662911708415
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.027096308767795563,
+              "ssim_fused": 0.9045877456665039,
+              "seg_l1": 0.040160682052373886,
+              "seg_ssim_ref": 0.9045864343643188,
+              "depth": 0.01108856794052033,
+              "rgb_loss": 0.04075949639081955,
+              "seg_loss": 0.05121126025915146,
+              "total": 0.09198184521791153,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01108856794052033,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.009800553617603664
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020585641264915466,
+              "ssim_fused": 0.9103454351425171,
+              "seg_l1": 0.026403993368148804,
+              "seg_ssim_ref": 0.9103438854217529,
+              "depth": 0.005936605157896153,
+              "rgb_loss": 0.034399427473545074,
+              "seg_loss": 0.03905441612005234,
+              "total": 0.0734597801987553,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005936605157896153,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005936605157896152
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 274,
+        "adam_update_count": 46032
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25482963398098946
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_253ea80e2b9c4496a8ca664d751b772f_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 275,
+  "next_interval": 0,
+  "next_adam_update": 46033,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 274,
+    "trained_intervals": 46032,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46032,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.483081340789795,
+      "median": 10.411381721496582,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.3674539625644684,
+      "median": 9.310670852661133,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0015290917363017797,
+      "median": 33235.7578125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.444053292274475,
+      "median": 11107.8984375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23272,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0275.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0275",
+  "executed_epochs": 275,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_c7b5401675854e52b35898addae959cf.npz",
+  "optimizer_file": "boundary_c7b5401675854e52b35898addae959cf_optimizer.pt",
+  "arrays_sha256": "328b79598929c5b7d6e4788e218ce5ae6c3b586f7f24bc4ee4ac6442fddf5ff6",
+  "optimizer_sha256": "c5a9156f278ee369b921bea68c1d275b1b071ff7d8b02cde201bec08d63082c1",
+  "stage": "adam",
+  "completed_passes": 275,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46200,
+  "adam_update_count": 46200,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 276,
+    "consumed_count": 275,
+    "last_submitted_update": 46200,
+    "last_consumed_update": 46032,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46200,
+          "completed_passes": 275,
+          "next_interval": 0,
+          "trained_intervals": 46200,
+          "snapshot": "pass_end_0275",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 275,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46200,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46200,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00014188667410053313,
+            "update_l2": 0.07521823793649673
+          },
+          "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": 2.9227301638456993e-05,
+            "update_l2": 0.0028920331969857216
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11123575321721477,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23291,
+          "attachment": 120,
+          "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": 0.11123575321721477,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03512970358133316,
+            "ssim_fused": 0.890812337398529,
+            "seg_l1": 0.04930444061756134,
+            "seg_ssim_ref": 0.8908111453056335,
+            "depth": 0.013117262596318712,
+            "rgb_loss": 0.049941301345825195,
+            "seg_loss": 0.06128133088350296,
+            "total": 0.11123575321721477
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0525398887693882,
+              "ssim_fused": 0.8732268214225769,
+              "seg_l1": 0.06398672610521317,
+              "seg_ssim_ref": 0.8732262849807739,
+              "depth": 0.02005759679554354,
+              "rgb_loss": 0.06738654524087906,
+              "seg_loss": 0.07654412090778351,
+              "total": 0.1439507311960387,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.02005759679554354,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014567373271237982
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03981000557541847,
+              "ssim_fused": 0.8751375079154968,
+              "seg_l1": 0.0655808225274086,
+              "seg_ssim_ref": 0.8751360177993774,
+              "depth": 0.015215998149776781,
+              "rgb_loss": 0.05682050436735153,
+              "seg_loss": 0.07743746042251587,
+              "total": 0.13427318823859777,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.015215998149776781,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01212172840151289
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.027455076575279236,
+              "ssim_fused": 0.9046163558959961,
+              "seg_l1": 0.04099421948194504,
+              "seg_ssim_ref": 0.904615044593811,
+              "depth": 0.011429754811464292,
+              "rgb_loss": 0.04104079306125641,
+              "seg_loss": 0.051872368901968,
+              "total": 0.09292459544332618,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.011429754811464292,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.010141740488547624
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020713839679956436,
+              "ssim_fused": 0.9102685451507568,
+              "seg_l1": 0.02665599435567856,
+              "seg_ssim_ref": 0.9102671146392822,
+              "depth": 0.0057657006284902385,
+              "rgb_loss": 0.03451736271381378,
+              "seg_loss": 0.03927137330174446,
+              "total": 0.07379449799089643,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0057657006284902385,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005765700628490239
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 275,
+        "adam_update_count": 46200
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2536998500581831
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c7b5401675854e52b35898addae959cf_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 276,
+  "next_interval": 0,
+  "next_adam_update": 46201,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 275,
+    "trained_intervals": 46200,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46200,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.488293647766113,
+      "median": 10.41770076751709,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.36247456073760986,
+      "median": 9.31637191772461,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0015211424324661493,
+      "median": 33446.4453125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.4368807077407837,
+      "median": 11166.84765625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23291,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0276.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0276",
+  "executed_epochs": 276,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_75c1b5eac6e8452c9d18a639aaf5d3f0.npz",
+  "optimizer_file": "boundary_75c1b5eac6e8452c9d18a639aaf5d3f0_optimizer.pt",
+  "arrays_sha256": "c5dc943698e90c2e5119c560899e902db33e7c4bee12a55557bc1bdd2a1a1f35",
+  "optimizer_sha256": "68efabe59c18ce224f2bd6b9d1fdc28582bc9258134ff3cdb98c39efc23302c2",
+  "stage": "adam",
+  "completed_passes": 276,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46368,
+  "adam_update_count": 46368,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 277,
+    "consumed_count": 276,
+    "last_submitted_update": 46368,
+    "last_consumed_update": 46200,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46368,
+          "completed_passes": 276,
+          "next_interval": 0,
+          "trained_intervals": 46368,
+          "snapshot": "pass_end_0276",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 276,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46368,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46368,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.000335673161316663,
+            "update_l2": 0.07763893157243729
+          },
+          "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": 7.213806384243071e-05,
+            "update_l2": 0.00220424123108387
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10994651889581822,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23308,
+          "attachment": 120,
+          "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": 0.10994651889581822,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034653645008802414,
+            "ssim_fused": 0.8914017081260681,
+            "seg_l1": 0.04846394434571266,
+            "seg_ssim_ref": 0.8914004564285278,
+            "depth": 0.012878087951173916,
+            "rgb_loss": 0.04944257438182831,
+            "seg_loss": 0.060491062700748444,
+            "total": 0.10994651889581822
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05178793519735336,
+              "ssim_fused": 0.8746811747550964,
+              "seg_l1": 0.06286048889160156,
+              "seg_ssim_ref": 0.8746805191040039,
+              "depth": 0.01979912383374344,
+              "rgb_loss": 0.06649411469697952,
+              "seg_loss": 0.07535228878259659,
+              "total": 0.14186620260340985,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01979912383374344,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014308900309437886
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03939507529139519,
+              "ssim_fused": 0.8758753538131714,
+              "seg_l1": 0.06492287665605545,
+              "seg_ssim_ref": 0.875873863697052,
+              "depth": 0.01494187266990439,
+              "rgb_loss": 0.05634099245071411,
+              "seg_loss": 0.07676353305578232,
+              "total": 0.13311947482974693,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01494187266990439,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.0118476029216405
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.026934340596199036,
+              "ssim_fused": 0.9049420356750488,
+              "seg_l1": 0.03985590860247612,
+              "seg_ssim_ref": 0.9049407839775085,
+              "depth": 0.010970944853619052,
+              "rgb_loss": 0.0405590645968914,
+              "seg_loss": 0.05089657008647919,
+              "total": 0.09146660935351451,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010970944853619052,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.009682930530702386
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020497236400842667,
+              "ssim_fused": 0.9101083278656006,
+              "seg_l1": 0.02621650882065296,
+              "seg_ssim_ref": 0.9101067185401917,
+              "depth": 0.0058004104474287796,
+              "rgb_loss": 0.0343761220574379,
+              "seg_loss": 0.03895186632871628,
+              "total": 0.0733337887966016,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0058004104474287796,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0058004104474287796
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 276,
+        "adam_update_count": 46368
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2655769388657063
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_75c1b5eac6e8452c9d18a639aaf5d3f0_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 277,
+  "next_interval": 0,
+  "next_adam_update": 46369,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 276,
+    "trained_intervals": 46368,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46368,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.495142936706543,
+      "median": 10.426151275634766,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.3513427674770355,
+      "median": 9.319350242614746,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0015107592334970832,
+      "median": 33730.28125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.4209742546081543,
+      "median": 11202.1962890625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23308,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0277.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0277",
+  "executed_epochs": 277,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_b1331f4791ce444e812558cdeff483c1.npz",
+  "optimizer_file": "boundary_b1331f4791ce444e812558cdeff483c1_optimizer.pt",
+  "arrays_sha256": "9441ef47dacf2887b31dffe46b1b4a4c5d5b2c67d8f8f2eec946803828997789",
+  "optimizer_sha256": "ec37b4cc7d7f4912474b1e18ede19f4dd61d6ec88a14324ab33b0b2b5f5c3f61",
+  "stage": "adam",
+  "completed_passes": 277,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46536,
+  "adam_update_count": 46536,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 278,
+    "consumed_count": 277,
+    "last_submitted_update": 46536,
+    "last_consumed_update": 46368,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46536,
+          "completed_passes": 277,
+          "next_interval": 0,
+          "trained_intervals": 46536,
+          "snapshot": "pass_end_0277",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 277,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46536,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46536,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020468412549234927,
+            "update_l2": 0.0655604898929596
+          },
+          "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": 3.7528494431171566e-05,
+            "update_l2": 0.0023988236207515
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10837321809707216,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23326,
+          "attachment": 120,
+          "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": 0.10837321809707216,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034332625567913055,
+            "ssim_fused": 0.8926168084144592,
+            "seg_l1": 0.04742620885372162,
+            "seg_ssim_ref": 0.8926154971122742,
+            "depth": 0.012603469472437345,
+            "rgb_loss": 0.048942744731903076,
+            "seg_loss": 0.05941787362098694,
+            "total": 0.10837321809707216
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052509792149066925,
+              "ssim_fused": 0.8740569949150085,
+              "seg_l1": 0.06286774575710297,
+              "seg_ssim_ref": 0.874056339263916,
+              "depth": 0.01973388650957702,
+              "rgb_loss": 0.06719643622636795,
+              "seg_loss": 0.07548293471336365,
+              "total": 0.14269909737566058,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01973388650957702,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014243662985271462
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03926331549882889,
+              "ssim_fused": 0.8756411075592041,
+              "seg_l1": 0.0640064999461174,
+              "seg_ssim_ref": 0.8756394386291504,
+              "depth": 0.014652325918051776,
+              "rgb_loss": 0.05628243088722229,
+              "seg_loss": 0.07607731223106384,
+              "total": 0.13237439544420418,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014652325918051776,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01155805616978789
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025880103930830956,
+              "ssim_fused": 0.908115804195404,
+              "seg_l1": 0.03814919292926788,
+              "seg_ssim_ref": 0.908114492893219,
+              "depth": 0.010359075722250984,
+              "rgb_loss": 0.03908092528581619,
+              "seg_loss": 0.04889645427465439,
+              "total": 0.08798773863619283,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010359075722250984,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.009071061399334317
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019677281379699707,
+              "ssim_fused": 0.9126531481742859,
+              "seg_l1": 0.02468140609562397,
+              "seg_ssim_ref": 0.9126517176628113,
+              "depth": 0.005668589739869607,
+              "rgb_loss": 0.03321119397878647,
+              "seg_loss": 0.03721478208899498,
+              "total": 0.07043164093223102,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005668589739869607,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005668589739869607
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 277,
+        "adam_update_count": 46536
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24643791397102177
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_b1331f4791ce444e812558cdeff483c1_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 278,
+  "next_interval": 0,
+  "next_adam_update": 46537,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 277,
+    "trained_intervals": 46536,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46536,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.506190776824951,
+      "median": 10.429306030273438,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.34190523624420166,
+      "median": 9.3148193359375,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0014941605040803552,
+      "median": 33836.859375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.4076268672943115,
+      "median": 11164.7734375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23326,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0278.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0278",
+  "executed_epochs": 278,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_8b4352cf5e0b4e59a6e77ffc011d4a25.npz",
+  "optimizer_file": "boundary_8b4352cf5e0b4e59a6e77ffc011d4a25_optimizer.pt",
+  "arrays_sha256": "87345e8b43ab570b026b80462e5ad5ce168af1a7d29687d808292936efd6d916",
+  "optimizer_sha256": "e4380149833cfd2be941d38fb0e0c2a453e00e31b37da10226a5c430990c3fdc",
+  "stage": "adam",
+  "completed_passes": 278,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46704,
+  "adam_update_count": 46704,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 279,
+    "consumed_count": 278,
+    "last_submitted_update": 46704,
+    "last_consumed_update": 46536,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46704,
+          "completed_passes": 278,
+          "next_interval": 0,
+          "trained_intervals": 46704,
+          "snapshot": "pass_end_0278",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 278,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46704,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46704,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00017912090697791427,
+            "update_l2": 0.06253723055124283
+          },
+          "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": 3.091048347414471e-05,
+            "update_l2": 0.0028298725374042988
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1073479825493111,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23342,
+          "attachment": 120,
+          "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": 0.1073479825493111,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03394104912877083,
+            "ssim_fused": 0.8931117057800293,
+            "seg_l1": 0.0467839315533638,
+            "seg_ssim_ref": 0.8931103944778442,
+            "depth": 0.012415074945884924,
+            "rgb_loss": 0.048530496656894684,
+            "seg_loss": 0.05880507081747055,
+            "total": 0.1073479825493111
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05191181227564812,
+              "ssim_fused": 0.8748331069946289,
+              "seg_l1": 0.06211091950535774,
+              "seg_ssim_ref": 0.874832272529602,
+              "depth": 0.019452649243242987,
+              "rgb_loss": 0.06656283140182495,
+              "seg_loss": 0.0747222825884819,
+              "total": 0.1413045740901307,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019452649243242987,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013962425718937431
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03900047391653061,
+              "ssim_fused": 0.8758310079574585,
+              "seg_l1": 0.06374011933803558,
+              "seg_ssim_ref": 0.8758294582366943,
+              "depth": 0.014555100815254523,
+              "rgb_loss": 0.05603417754173279,
+              "seg_loss": 0.07582620531320572,
+              "total": 0.13187493050517315,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014555100815254523,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011460831066990633
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025615816935896873,
+              "ssim_fused": 0.9084309935569763,
+              "seg_l1": 0.037513308227062225,
+              "seg_ssim_ref": 0.9084296226501465,
+              "depth": 0.010163644023163812,
+              "rgb_loss": 0.038806453347206116,
+              "seg_loss": 0.04832472279667854,
+              "total": 0.08714133606261752,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010163644023163812,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008875629700247146
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019236093387007713,
+              "ssim_fused": 0.9133517146110535,
+              "seg_l1": 0.023771382868289948,
+              "seg_ssim_ref": 0.9133501648902893,
+              "depth": 0.005488905701878378,
+              "rgb_loss": 0.03271853178739548,
+              "seg_loss": 0.03634707257151604,
+              "total": 0.06907108953932309,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005488905701878378,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005488905701878377
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 278,
+        "adam_update_count": 46704
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2630371500272304
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_8b4352cf5e0b4e59a6e77ffc011d4a25_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 279,
+  "next_interval": 0,
+  "next_adam_update": 46705,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 278,
+    "trained_intervals": 46704,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46704,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.509931564331055,
+      "median": 10.432578086853027,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.33444759249687195,
+      "median": 9.319141387939453,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001488581532612443,
+      "median": 33947.7578125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3971682786941528,
+      "median": 11217.21875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23342,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0279.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0279",
+  "executed_epochs": 279,
+  "score": null,
+  "best_score": 0.0894637787368614,
+  "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_9beda96b506746f8b1a1b2b9182ee8de.npz",
+  "optimizer_file": "boundary_9beda96b506746f8b1a1b2b9182ee8de_optimizer.pt",
+  "arrays_sha256": "586cd5cc15b900da7544819e7a3b4625a41890d9920e6aad9aac5c8ced0d1488",
+  "optimizer_sha256": "fd19177e38c06abfd0effb185f42c557652f156b6e70a078a992124395ea0788",
+  "stage": "adam",
+  "completed_passes": 279,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 46872,
+  "adam_update_count": 46872,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 280,
+    "consumed_count": 279,
+    "last_submitted_update": 46872,
+    "last_consumed_update": 46704,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 46872,
+          "completed_passes": 279,
+          "next_interval": 0,
+          "trained_intervals": 46872,
+          "snapshot": "pass_end_0279",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 45864,
+  "pass_science": {
+    "completed_passes": 279,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 46872,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 46872,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020502689585555345,
+            "update_l2": 0.0637492761015892
+          },
+          "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": 3.1733135983813554e-05,
+            "update_l2": 0.0032294513657689095
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10757387635318467,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23355,
+          "attachment": 120,
+          "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": 0.10757387635318467,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034073926508426666,
+            "ssim_fused": 0.8931400775909424,
+            "seg_l1": 0.046947676688432693,
+            "seg_ssim_ref": 0.8931388854980469,
+            "depth": 0.012390511314372481,
+            "rgb_loss": 0.04863111674785614,
+            "seg_loss": 0.05893036723136902,
+            "total": 0.10757387635318467
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0521286241710186,
+              "ssim_fused": 0.874531090259552,
+              "seg_l1": 0.062157128006219864,
+              "seg_ssim_ref": 0.8745302557945251,
+              "depth": 0.01948530562787834,
+              "rgb_loss": 0.0667966827750206,
+              "seg_loss": 0.0748196542263031,
+              "total": 0.14163582975753217,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01948530562787834,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013995082103572785
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03912345692515373,
+              "ssim_fused": 0.8757953643798828,
+              "seg_l1": 0.06386439502239227,
+              "seg_ssim_ref": 0.8757939338684082,
+              "depth": 0.014472732127124653,
+              "rgb_loss": 0.05613969266414642,
+              "seg_loss": 0.07593273371458054,
+              "total": 0.1320868916602735,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014472732127124653,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011378462378860763
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025582315400242805,
+              "ssim_fused": 0.9088959693908691,
+              "seg_l1": 0.037545330822467804,
+              "seg_ssim_ref": 0.9088947772979736,
+              "depth": 0.01005046488000106,
+              "rgb_loss": 0.038686659187078476,
+              "seg_loss": 0.048257309943437576,
+              "total": 0.08695401959539606,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01005046488000106,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008762450557084392
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01946130394935608,
+              "ssim_fused": 0.9133380055427551,
+              "seg_l1": 0.024223849177360535,
+              "seg_ssim_ref": 0.9133365750312805,
+              "depth": 0.005553542622485872,
+              "rgb_loss": 0.03290144354104996,
+              "seg_loss": 0.03671176731586456,
+              "total": 0.069618764399537,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005553542622485872,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005553542622485871
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 279,
+        "adam_update_count": 46872
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24454830610193312
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_9beda96b506746f8b1a1b2b9182ee8de_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 280,
+  "next_interval": 0,
+  "next_adam_update": 46873,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 279,
+    "trained_intervals": 46872,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 46872,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.517529487609863,
+      "median": 10.432361602783203,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.3292408585548401,
+      "median": 9.319692611694336,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001477314392104745,
+      "median": 33940.41015625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.389912486076355,
+      "median": 11224.9931640625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23355,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0280.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0280",
+  "executed_epochs": 280,
+  "score": null,
+  "best_score": 0.08938325191809274,
+  "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_1cc59cd149b34f16807e29aa418f98b2.npz",
+  "optimizer_file": "boundary_1cc59cd149b34f16807e29aa418f98b2_optimizer.pt",
+  "arrays_sha256": "c4a69cf2231f5931d2fc0618f4b16acae44fc777c90c988032ff46d1ccf65bf0",
+  "optimizer_sha256": "1dc3f1e7a39eba72c925f9676cd567d2e4d08ca548ddca4fd7dda4d7c420b56a",
+  "stage": "adam",
+  "completed_passes": 280,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47040,
+  "adam_update_count": 47040,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 281,
+    "consumed_count": 280,
+    "last_submitted_update": 47040,
+    "last_consumed_update": 46872,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47040,
+          "completed_passes": 280,
+          "next_interval": 0,
+          "trained_intervals": 47040,
+          "snapshot": "pass_end_0280",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 280,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47040,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47040,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0004781672905664891,
+            "update_l2": 0.07122788578271866
+          },
+          "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": 9.239237260771915e-05,
+            "update_l2": 0.0027909567579627037
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10769798720849852,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23377,
+          "attachment": 120,
+          "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": 0.10769798720849852,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034057457000017166,
+            "ssim_fused": 0.8927572965621948,
+            "seg_l1": 0.04692796617746353,
+            "seg_ssim_ref": 0.8927559852600098,
+            "depth": 0.012303913367783406,
+            "rgb_loss": 0.04869450628757477,
+            "seg_loss": 0.058991171419620514,
+            "total": 0.10769798720849852
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05157002806663513,
+              "ssim_fused": 0.8754255175590515,
+              "seg_l1": 0.06130479276180267,
+              "seg_ssim_ref": 0.8754248023033142,
+              "depth": 0.019137969766392683,
+              "rgb_loss": 0.06617091596126556,
+              "seg_loss": 0.0739588737487793,
+              "total": 0.14014892767981124,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019137969766392683,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013647746242087125
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038994450122117996,
+              "ssim_fused": 0.8758040070533752,
+              "seg_l1": 0.06386933475732803,
+              "seg_ssim_ref": 0.8758023977279663,
+              "depth": 0.014578641005953153,
+              "rgb_loss": 0.05603475868701935,
+              "seg_loss": 0.0759349912405014,
+              "total": 0.1319843285685267,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014578641005953153,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011484371257689264
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02561113052070141,
+              "ssim_fused": 0.9084789156913757,
+              "seg_l1": 0.03729927912354469,
+              "seg_ssim_ref": 0.9084776639938354,
+              "depth": 0.009803851941428408,
+              "rgb_loss": 0.03879312425851822,
+              "seg_loss": 0.0481438934803009,
+              "total": 0.08694682159076055,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009803851941428408,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008515837618511738
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020054223015904427,
+              "ssim_fused": 0.911320686340332,
+              "seg_l1": 0.025238461792469025,
+              "seg_ssim_ref": 0.9113191962242126,
+              "depth": 0.0056951907573593785,
+              "rgb_loss": 0.033779241144657135,
+              "seg_loss": 0.03792693093419075,
+              "total": 0.07171187099489554,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0056951907573593785,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0056951907573593785
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 280,
+        "adam_update_count": 47040
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24135869601741433
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_1cc59cd149b34f16807e29aa418f98b2_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 281,
+  "next_interval": 0,
+  "next_adam_update": 47041,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 280,
+    "trained_intervals": 47040,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47040,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.525356769561768,
+      "median": 10.434375762939453,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.3258419334888458,
+      "median": 9.308351516723633,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0014657960273325443,
+      "median": 34008.83984375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3851964473724365,
+      "median": 11087.5732421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23377,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0281.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0281",
+  "executed_epochs": 281,
+  "score": null,
+  "best_score": 0.08938325191809274,
+  "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_e789245b7aa34e52bb4f4cf125ed3203.npz",
+  "optimizer_file": "boundary_e789245b7aa34e52bb4f4cf125ed3203_optimizer.pt",
+  "arrays_sha256": "49ccb51fe526b0ffcc007b3cbf15a1891b7af9915fa1f9a9a8b59e2177940b93",
+  "optimizer_sha256": "1ca76d2f6671969a623edf5d9f382785a4f23bb7dba28568c32d8daf61557818",
+  "stage": "adam",
+  "completed_passes": 281,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47208,
+  "adam_update_count": 47208,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 282,
+    "consumed_count": 281,
+    "last_submitted_update": 47208,
+    "last_consumed_update": 47040,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47208,
+          "completed_passes": 281,
+          "next_interval": 0,
+          "trained_intervals": 47208,
+          "snapshot": "pass_end_0281",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 281,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47208,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47208,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00018071602971758693,
+            "update_l2": 0.057037826627492905
+          },
+          "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": 3.4386343031656e-05,
+            "update_l2": 0.0030235196463763714
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10815229637519386,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23389,
+          "attachment": 120,
+          "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": 0.10815229637519386,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034227050840854645,
+            "ssim_fused": 0.8927757740020752,
+            "seg_l1": 0.04733504354953766,
+            "seg_ssim_ref": 0.8927745819091797,
+            "depth": 0.01268273190523388,
+            "rgb_loss": 0.04882648587226868,
+            "seg_loss": 0.05931312218308449,
+            "total": 0.10815229637519386
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05203847214579582,
+              "ssim_fused": 0.874836802482605,
+              "seg_l1": 0.06231994926929474,
+              "seg_ssim_ref": 0.874836266040802,
+              "depth": 0.019690519464622358,
+              "rgb_loss": 0.06666341423988342,
+              "seg_loss": 0.07488870620727539,
+              "total": 0.14157181096662344,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019690519464622358,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.0142002959403168
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03884148225188255,
+              "ssim_fused": 0.8762364387512207,
+              "seg_l1": 0.06348560750484467,
+              "seg_ssim_ref": 0.8762348890304565,
+              "depth": 0.014637824844428495,
+              "rgb_loss": 0.05582589656114578,
+              "seg_loss": 0.07554151117801666,
+              "total": 0.13138205301458747,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014637824844428495,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011543555096164605
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.026112258434295654,
+              "ssim_fused": 0.9076164364814758,
+              "seg_l1": 0.03841538354754448,
+              "seg_ssim_ref": 0.9076151847839355,
+              "depth": 0.010523198997391025,
+              "rgb_loss": 0.03936652094125748,
+              "seg_loss": 0.049209270626306534,
+              "total": 0.0885863184918517,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010523198997391025,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00923518467447436
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01991598680615425,
+              "ssim_fused": 0.9124133586883545,
+              "seg_l1": 0.0251192357391119,
+              "seg_ssim_ref": 0.9124119281768799,
+              "depth": 0.005879384314493638,
+              "rgb_loss": 0.03345011919736862,
+              "seg_loss": 0.03761300444602966,
+              "total": 0.07106900302771278,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005879384314493638,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005879384314493638
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 281,
+        "adam_update_count": 47208
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25292139197699726
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_e789245b7aa34e52bb4f4cf125ed3203_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 282,
+  "next_interval": 0,
+  "next_adam_update": 47209,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 281,
+    "trained_intervals": 47208,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47208,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.541764736175537,
+      "median": 10.446487426757812,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.31866100430488586,
+      "median": 9.3040771484375,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0014419415965676308,
+      "median": 34423.25,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.375285029411316,
+      "median": 11025.3232421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23389,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0282.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0282",
+  "executed_epochs": 282,
+  "score": null,
+  "best_score": 0.08938325191809274,
+  "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_18b77ac5f50849c18acda4f8a407308a.npz",
+  "optimizer_file": "boundary_18b77ac5f50849c18acda4f8a407308a_optimizer.pt",
+  "arrays_sha256": "5e7918d509e315fb64f3128fc68b203b40996a3bd212c02c42b74bf1501bb628",
+  "optimizer_sha256": "f9e18d0b7df9f854b97e8e53bfca40c11dd83c023cf7cd53a370468efc23394a",
+  "stage": "adam",
+  "completed_passes": 282,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47376,
+  "adam_update_count": 47376,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 283,
+    "consumed_count": 282,
+    "last_submitted_update": 47376,
+    "last_consumed_update": 47208,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47376,
+          "completed_passes": 282,
+          "next_interval": 0,
+          "trained_intervals": 47376,
+          "snapshot": "pass_end_0282",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 282,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47376,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47376,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00021065346663817763,
+            "update_l2": 0.06748223304748535
+          },
+          "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": 3.88212465622928e-05,
+            "update_l2": 0.0037076962180435658
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1083550778458864,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23410,
+          "attachment": 120,
+          "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": 0.1083550778458864,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03439462557435036,
+            "ssim_fused": 0.8927067518234253,
+            "seg_l1": 0.04738663509488106,
+            "seg_ssim_ref": 0.892705500125885,
+            "depth": 0.012525288298766733,
+            "rgb_loss": 0.04897435009479523,
+            "seg_loss": 0.05936820060014725,
+            "total": 0.1083550778458864
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05290047079324722,
+              "ssim_fused": 0.8732221126556396,
+              "seg_l1": 0.0633920282125473,
+              "seg_ssim_ref": 0.8732213973999023,
+              "depth": 0.01970044203445018,
+              "rgb_loss": 0.06767595559358597,
+              "seg_loss": 0.07606934756040573,
+              "total": 0.14376500359602615,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01970044203445018,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014210218510144623
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03940833359956741,
+              "ssim_fused": 0.875610888004303,
+              "seg_l1": 0.06404706835746765,
+              "seg_ssim_ref": 0.8756094574928284,
+              "depth": 0.01472307793626717,
+              "rgb_loss": 0.056404486298561096,
+              "seg_loss": 0.07611576467752457,
+              "total": 0.13253498150460252,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01472307793626717,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011628808188003282
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02556987665593624,
+              "ssim_fused": 0.9089717268943787,
+              "seg_l1": 0.03742479532957077,
+              "seg_ssim_ref": 0.9089704751968384,
+              "depth": 0.010100797129600414,
+              "rgb_loss": 0.03866155818104744,
+              "seg_loss": 0.04814574122428894,
+              "total": 0.08681739647717568,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010100797129600414,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008812782806683744
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.0196998193860054,
+              "ssim_fused": 0.9130222797393799,
+              "seg_l1": 0.024682654067873955,
+              "seg_ssim_ref": 0.9130208492279053,
+              "depth": 0.00557683609474916,
+              "rgb_loss": 0.033155400305986404,
+              "seg_loss": 0.03714195266366005,
+              "total": 0.0703029298057412,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.00557683609474916,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005576836094749161
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 282,
+        "adam_update_count": 47376
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24924382288008928
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_18b77ac5f50849c18acda4f8a407308a_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 283,
+  "next_interval": 0,
+  "next_adam_update": 47377,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 282,
+    "trained_intervals": 47376,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47376,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.557192802429199,
+      "median": 10.451662063598633,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.31138840317726135,
+      "median": 9.300525665283203,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0014198659919202328,
+      "median": 34601.8359375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3653193712234497,
+      "median": 10999.037109375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23410,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0283.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0283",
+  "executed_epochs": 283,
+  "score": null,
+  "best_score": 0.08938325191809274,
+  "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_c03d7dad4dda45b6884dc71d88a43799.npz",
+  "optimizer_file": "boundary_c03d7dad4dda45b6884dc71d88a43799_optimizer.pt",
+  "arrays_sha256": "35cb396845d1ba4d251c4a22916a8252d969cbba6a17843b1b412c2cc8385fcb",
+  "optimizer_sha256": "7c57639db94129431715ab6dcf13702e91eb498160a028cd93d4dc9fee6dcf7c",
+  "stage": "adam",
+  "completed_passes": 283,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47544,
+  "adam_update_count": 47544,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 284,
+    "consumed_count": 283,
+    "last_submitted_update": 47544,
+    "last_consumed_update": 47376,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47544,
+          "completed_passes": 283,
+          "next_interval": 0,
+          "trained_intervals": 47544,
+          "snapshot": "pass_end_0283",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 46872,
+  "pass_science": {
+    "completed_passes": 283,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47544,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47544,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002900383260566741,
+            "update_l2": 0.08781155943870544
+          },
+          "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": 4.189928586129099e-05,
+            "update_l2": 0.00371000193990767
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11539153548820327,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23431,
+          "attachment": 120,
+          "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": 0.11539153548820327,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03636348247528076,
+            "ssim_fused": 0.888306736946106,
+            "seg_l1": 0.05201147124171257,
+            "seg_ssim_ref": 0.8883054852485657,
+            "depth": 0.014025521710614589,
+            "rgb_loss": 0.05142943933606148,
+            "seg_loss": 0.06394807994365692,
+            "total": 0.11539153548820327
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05291867256164551,
+              "ssim_fused": 0.8723016381263733,
+              "seg_l1": 0.06571488082408905,
+              "seg_ssim_ref": 0.8723010420799255,
+              "depth": 0.020798054537264396,
+              "rgb_loss": 0.06787461042404175,
+              "seg_loss": 0.0781116932630539,
+              "total": 0.1460071017416329,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.020798054537264396,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.015307831012958842
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.041197385638952255,
+              "ssim_fused": 0.8726732730865479,
+              "seg_l1": 0.06851738691329956,
+              "seg_ssim_ref": 0.8726717233657837,
+              "depth": 0.016270725150144556,
+              "rgb_loss": 0.058423250913619995,
+              "seg_loss": 0.08027956634759903,
+              "total": 0.13871908053578857,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.016270725150144556,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.013176455401880666
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02911626733839512,
+              "ssim_fused": 0.901346743106842,
+              "seg_l1": 0.044159114360809326,
+              "seg_ssim_ref": 0.9013454914093018,
+              "depth": 0.012634570398575158,
+              "rgb_loss": 0.043023668229579926,
+              "seg_loss": 0.05505819618701935,
+              "total": 0.09809449898699785,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.012634570398575158,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.011346556075658492
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.022221608087420464,
+              "ssim_fused": 0.9069053530693054,
+              "seg_l1": 0.029654497280716896,
+              "seg_ssim_ref": 0.9069037437438965,
+              "depth": 0.006398736756474246,
+              "rgb_loss": 0.03639621660113335,
+              "seg_loss": 0.04234284907579422,
+              "total": 0.07874546068839375,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.006398736756474246,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.006398736756474246
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 283,
+        "adam_update_count": 47544
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2649343160446733
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c03d7dad4dda45b6884dc71d88a43799_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 284,
+  "next_interval": 0,
+  "next_adam_update": 47545,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 283,
+    "trained_intervals": 47544,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47544,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.562422752380371,
+      "median": 10.473998069763184,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.3051413595676422,
+      "median": 9.299359321594238,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0014124595327302814,
+      "median": 35383.40234375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3568167686462402,
+      "median": 10968.630859375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23431,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0284.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0284",
+  "executed_epochs": 284,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_23747432a7dd44188f60d2f6aec1f993.npz",
+  "optimizer_file": "boundary_23747432a7dd44188f60d2f6aec1f993_optimizer.pt",
+  "arrays_sha256": "aedcc7a73a9385745f5b5f7128f23582ea0fd5ae48b18c22868acb16100e247c",
+  "optimizer_sha256": "3b6428e1fc078250b94b30463f8d133c3c7ae2ad3af91e3638737e8920a444df",
+  "stage": "adam",
+  "completed_passes": 284,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47712,
+  "adam_update_count": 47712,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 285,
+    "consumed_count": 284,
+    "last_submitted_update": 47712,
+    "last_consumed_update": 47544,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47712,
+          "completed_passes": 284,
+          "next_interval": 0,
+          "trained_intervals": 47712,
+          "snapshot": "pass_end_0284",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 284,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47712,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47712,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020283766207285225,
+            "update_l2": 0.0725535973906517
+          },
+          "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": 3.615105742937885e-05,
+            "update_l2": 0.0031709056347608566
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1083770233718356,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23440,
+          "attachment": 120,
+          "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": 0.1083770233718356,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03438215330243111,
+            "ssim_fused": 0.8925378322601318,
+            "seg_l1": 0.04734208434820175,
+            "seg_ssim_ref": 0.8925366401672363,
+            "depth": 0.01252699174488225,
+            "rgb_loss": 0.0489981509745121,
+            "seg_loss": 0.05936634540557861,
+            "total": 0.1083770233718356
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05232120677828789,
+              "ssim_fused": 0.8742606043815613,
+              "seg_l1": 0.06225718930363655,
+              "seg_ssim_ref": 0.8742598295211792,
+              "depth": 0.019427446362828293,
+              "rgb_loss": 0.06700484454631805,
+              "seg_loss": 0.07495378702878952,
+              "total": 0.1419780515708898,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019427446362828293,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013937222838522738
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.039287056773900986,
+              "ssim_fused": 0.875712513923645,
+              "seg_l1": 0.06394913792610168,
+              "seg_ssim_ref": 0.8757110834121704,
+              "depth": 0.014770115293603286,
+              "rgb_loss": 0.056287139654159546,
+              "seg_loss": 0.0760170966386795,
+              "total": 0.13231900640813266,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014770115293603286,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.0116758455453394
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025700753554701805,
+              "ssim_fused": 0.9085700511932373,
+              "seg_l1": 0.03756462037563324,
+              "seg_ssim_ref": 0.908568799495697,
+              "depth": 0.010128709876166085,
+              "rgb_loss": 0.03884659335017204,
+              "seg_loss": 0.04833793640136719,
+              "total": 0.0871946621867057,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010128709876166085,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00884069555324942
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.0202195942401886,
+              "ssim_fused": 0.9116082787513733,
+              "seg_l1": 0.02559738978743553,
+              "seg_ssim_ref": 0.9116067290306091,
+              "depth": 0.0057816954469313425,
+              "rgb_loss": 0.03385402262210846,
+              "seg_loss": 0.03815656527876854,
+              "total": 0.07201637332161423,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0057816954469313425,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005781695446931343
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 284,
+        "adam_update_count": 47712
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2528417769353837
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_23747432a7dd44188f60d2f6aec1f993_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 285,
+  "next_interval": 0,
+  "next_adam_update": 47713,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 284,
+    "trained_intervals": 47712,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47712,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.579351902008057,
+      "median": 10.474252700805664,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.29798176884651184,
+      "median": 9.295923233032227,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013887489913031459,
+      "median": 35392.4140625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.347137212753296,
+      "median": 10941.06640625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23440,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0285.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0285",
+  "executed_epochs": 285,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_814c2e9d382042c59d486cf6d64c5b6d.npz",
+  "optimizer_file": "boundary_814c2e9d382042c59d486cf6d64c5b6d_optimizer.pt",
+  "arrays_sha256": "4a74c507df78d6fc02eb67e6c468e41c32fed7c4a840b17b681a52b586199c2e",
+  "optimizer_sha256": "488b3c4f4eae368f98dd1aa79a97ad171f9d7299a67e54aba7f0ffd7041da396",
+  "stage": "adam",
+  "completed_passes": 285,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47880,
+  "adam_update_count": 47880,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 286,
+    "consumed_count": 285,
+    "last_submitted_update": 47880,
+    "last_consumed_update": 47712,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 47880,
+          "completed_passes": 285,
+          "next_interval": 0,
+          "trained_intervals": 47880,
+          "snapshot": "pass_end_0285",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 285,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 47880,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47880,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002398733195150271,
+            "update_l2": 0.08481796085834503
+          },
+          "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": 3.536681833793409e-05,
+            "update_l2": 0.003458423539996147
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11313054425923366,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23456,
+          "attachment": 120,
+          "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": 0.11313054425923366,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03572212904691696,
+            "ssim_fused": 0.8899050951004028,
+            "seg_l1": 0.050626251846551895,
+            "seg_ssim_ref": 0.8899038434028625,
+            "depth": 0.013613089008528461,
+            "rgb_loss": 0.0505966916680336,
+            "seg_loss": 0.06252023577690125,
+            "total": 0.11313054425923366
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0527854859828949,
+              "ssim_fused": 0.8732990622520447,
+              "seg_l1": 0.06490999460220337,
+              "seg_ssim_ref": 0.8732984066009521,
+              "depth": 0.02070235089769729,
+              "rgb_loss": 0.0675685778260231,
+              "seg_loss": 0.0772683173418045,
+              "total": 0.14485760496930591,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.02070235089769729,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.015212127373391738
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.04052043333649635,
+              "ssim_fused": 0.8738489151000977,
+              "seg_l1": 0.06704918295145035,
+              "seg_ssim_ref": 0.873847484588623,
+              "depth": 0.01551507838527077,
+              "rgb_loss": 0.05764656513929367,
+              "seg_loss": 0.07886984944343567,
+              "total": 0.1365319371116952,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01551507838527077,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.012420808637006881
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.028304485604166985,
+              "ssim_fused": 0.9030399918556213,
+              "seg_l1": 0.04269949346780777,
+              "seg_ssim_ref": 0.9030386209487915,
+              "depth": 0.011921745192823517,
+              "rgb_loss": 0.04203559085726738,
+              "seg_loss": 0.05355187505483627,
+              "total": 0.09559938393200618,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.011921745192823517,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.01063373086990685
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.021278120577335358,
+              "ssim_fused": 0.9094323515892029,
+              "seg_l1": 0.02784634754061699,
+              "seg_ssim_ref": 0.9094308018684387,
+              "depth": 0.006313181558322265,
+              "rgb_loss": 0.03513602539896965,
+              "seg_loss": 0.04039091616868973,
+              "total": 0.0755332510239274,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.006313181558322265,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.006313181558322266
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 285,
+        "adam_update_count": 47880
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24122535297647119
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_814c2e9d382042c59d486cf6d64c5b6d_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 286,
+  "next_interval": 0,
+  "next_adam_update": 47881,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 285,
+    "trained_intervals": 47880,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 47880,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.594466686248779,
+      "median": 10.483691215515137,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.28911954164505005,
+      "median": 9.30160903930664,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013679162366315722,
+      "median": 35728.04296875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3352513313293457,
+      "median": 10992.072265625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23456,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0286.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0286",
+  "executed_epochs": 286,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_7a973bf73e2a4dea9d02a57e2bafa069.npz",
+  "optimizer_file": "boundary_7a973bf73e2a4dea9d02a57e2bafa069_optimizer.pt",
+  "arrays_sha256": "a2a1174e316e29fc50459abb24da557e09e51d9aad37d36da8f101076c8e8306",
+  "optimizer_sha256": "8b5ef4d9688fd1cb50409d2cb3b0210afd403ed7afb0d87f966510ed0990f673",
+  "stage": "adam",
+  "completed_passes": 286,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48048,
+  "adam_update_count": 48048,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 287,
+    "consumed_count": 286,
+    "last_submitted_update": 48048,
+    "last_consumed_update": 47880,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48048,
+          "completed_passes": 286,
+          "next_interval": 0,
+          "trained_intervals": 48048,
+          "snapshot": "pass_end_0286",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 286,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48048,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48048,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00026262379833497107,
+            "update_l2": 0.0839422270655632
+          },
+          "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": 3.533402559696697e-05,
+            "update_l2": 0.0035873029846698046
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11417817791230786,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23474,
+          "attachment": 120,
+          "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": 0.11417817791230786,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0359882116317749,
+            "ssim_fused": 0.8890734314918518,
+            "seg_l1": 0.051253654062747955,
+            "seg_ssim_ref": 0.8890721797943115,
+            "depth": 0.013806868864176085,
+            "rgb_loss": 0.05097588151693344,
+            "seg_loss": 0.06318849325180054,
+            "total": 0.11417817791230786
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05251004919409752,
+              "ssim_fused": 0.8729933500289917,
+              "seg_l1": 0.06492871046066284,
+              "seg_ssim_ref": 0.8729926347732544,
+              "depth": 0.020639237586606757,
+              "rgb_loss": 0.06740936636924744,
+              "seg_loss": 0.07734444737434387,
+              "total": 0.14477445298117791,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.020639237586606757,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.015149014062301203
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.04060962423682213,
+              "ssim_fused": 0.8738816380500793,
+              "seg_l1": 0.06737145781517029,
+              "seg_ssim_ref": 0.8738800883293152,
+              "depth": 0.015979659600026334,
+              "rgb_loss": 0.05771137401461601,
+              "seg_loss": 0.07912115007638931,
+              "total": 0.13684850002531504,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.015979659600026334,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.012885389851762448
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.028749657794833183,
+              "ssim_fused": 0.902346670627594,
+              "seg_l1": 0.04334917291998863,
+              "seg_ssim_ref": 0.9023453593254089,
+              "depth": 0.012359577277843686,
+              "rgb_loss": 0.04253039509057999,
+              "seg_loss": 0.05421026796102524,
+              "total": 0.09675302262888306,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.012359577277843686,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.01107156295492702
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.022083507850766182,
+              "ssim_fused": 0.907072126865387,
+              "seg_l1": 0.029365263879299164,
+              "seg_ssim_ref": 0.907070517539978,
+              "depth": 0.006249000992227553,
+              "rgb_loss": 0.03625238314270973,
+              "seg_loss": 0.042078107595443726,
+              "total": 0.0783367360138554,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.006249000992227553,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.006249000992227553
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 286,
+        "adam_update_count": 48048
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24727356107905507
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_7a973bf73e2a4dea9d02a57e2bafa069_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 287,
+  "next_interval": 0,
+  "next_adam_update": 48049,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 286,
+    "trained_intervals": 48048,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48048,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.601608753204346,
+      "median": 10.494755744934082,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.2809431850910187,
+      "median": 9.303594589233398,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013581812381744385,
+      "median": 36125.5546875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3243783712387085,
+      "median": 11008.578125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23474,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0287.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0287",
+  "executed_epochs": 287,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_0fd6effc67484af7a814d62ca26d1969.npz",
+  "optimizer_file": "boundary_0fd6effc67484af7a814d62ca26d1969_optimizer.pt",
+  "arrays_sha256": "882f44e22c635476bb7d376b75b52cbdad3a94ea36338abdf3ef0293aad08e5c",
+  "optimizer_sha256": "5e63c1bb9dd897ba473895662dc492d5aefec14494c66d2cccb89a534508b60e",
+  "stage": "adam",
+  "completed_passes": 287,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48216,
+  "adam_update_count": 48216,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 288,
+    "consumed_count": 287,
+    "last_submitted_update": 48216,
+    "last_consumed_update": 48048,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48216,
+          "completed_passes": 287,
+          "next_interval": 0,
+          "trained_intervals": 48216,
+          "snapshot": "pass_end_0287",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 287,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48216,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48216,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0024155089631676674,
+            "update_l2": 0.0763278529047966
+          },
+          "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": 3.782013664022088e-05,
+            "update_l2": 0.002983936108648777
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1083329521601073,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23482,
+          "attachment": 120,
+          "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": 0.1083329521601073,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03437044844031334,
+            "ssim_fused": 0.8925310969352722,
+            "seg_l1": 0.04729538410902023,
+            "seg_ssim_ref": 0.8925298452377319,
+            "depth": 0.01247753547351358,
+            "rgb_loss": 0.04899013787508011,
+            "seg_loss": 0.05933033674955368,
+            "total": 0.1083329521601073
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052806295454502106,
+              "ssim_fused": 0.8732982277870178,
+              "seg_l1": 0.06305117905139923,
+              "seg_ssim_ref": 0.8732976913452148,
+              "depth": 0.01954217066654276,
+              "rgb_loss": 0.06758539378643036,
+              "seg_loss": 0.07578140497207642,
+              "total": 0.14338634092917332,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01954217066654276,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014051947142237202
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.039328936487436295,
+              "ssim_fused": 0.8753747344017029,
+              "seg_l1": 0.06390499323606491,
+              "seg_ssim_ref": 0.8753731846809387,
+              "depth": 0.014663765644272273,
+              "rgb_loss": 0.05638820305466652,
+              "seg_loss": 0.07604935765266418,
+              "total": 0.13245222074768467,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014663765644272273,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011569495896008385
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025606533512473106,
+              "ssim_fused": 0.9088420271873474,
+              "seg_l1": 0.037479426711797714,
+              "seg_ssim_ref": 0.9088407754898071,
+              "depth": 0.010136198241948667,
+              "rgb_loss": 0.03871682286262512,
+              "seg_loss": 0.048215385526418686,
+              "total": 0.08694234831257605,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010136198241948667,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008848183919032
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019740024581551552,
+              "ssim_fused": 0.9126093983650208,
+              "seg_l1": 0.024745935574173927,
+              "seg_ssim_ref": 0.9126077890396118,
+              "depth": 0.005568007341290618,
+              "rgb_loss": 0.03327014297246933,
+              "seg_loss": 0.03727519139647484,
+              "total": 0.07055089865099516,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005568007341290618,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005568007341290617
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 287,
+        "adam_update_count": 48216
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24036015616729856
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_0fd6effc67484af7a814d62ca26d1969_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 288,
+  "next_interval": 0,
+  "next_adam_update": 48217,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 287,
+    "trained_intervals": 48216,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48216,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.61679744720459,
+      "median": 10.497678756713867,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.2780073583126068,
+      "median": 9.294830322265625,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.00133770820684731,
+      "median": 36231.3046875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3204959630966187,
+      "median": 10914.64453125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23482,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0288.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0288",
+  "executed_epochs": 288,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_6cf415199a094b0796fd803210289308.npz",
+  "optimizer_file": "boundary_6cf415199a094b0796fd803210289308_optimizer.pt",
+  "arrays_sha256": "0ed9d313ca5c331e5d8c022ba11bc4dfdc0217c42036f7acb1c9accc94b29a43",
+  "optimizer_sha256": "ebce34f609ae93d0a52480dfbdab82f6d0f21b896cdfd267a5961883849887ac",
+  "stage": "adam",
+  "completed_passes": 288,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48384,
+  "adam_update_count": 48384,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 289,
+    "consumed_count": 288,
+    "last_submitted_update": 48384,
+    "last_consumed_update": 48216,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48384,
+          "completed_passes": 288,
+          "next_interval": 0,
+          "trained_intervals": 48384,
+          "snapshot": "pass_end_0288",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 288,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48384,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48384,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00023773858265485615,
+            "update_l2": 0.07191435247659683
+          },
+          "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": 3.4887369110947475e-05,
+            "update_l2": 0.0028242303524166346
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10848504087623705,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23497,
+          "attachment": 120,
+          "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": 0.10848504087623705,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0343632847070694,
+            "ssim_fused": 0.89227694272995,
+            "seg_l1": 0.047365669161081314,
+            "seg_ssim_ref": 0.8922756910324097,
+            "depth": 0.012404906717422514,
+            "rgb_loss": 0.04903523623943329,
+            "seg_loss": 0.059437401592731476,
+            "total": 0.10848504087623705
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05213906243443489,
+              "ssim_fused": 0.8745196461677551,
+              "seg_l1": 0.0617721751332283,
+              "seg_ssim_ref": 0.8745189309120178,
+              "depth": 0.01916363496575569,
+              "rgb_loss": 0.066807322204113,
+              "seg_loss": 0.07451395690441132,
+              "total": 0.1413404352929095,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01916363496575569,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013673411441450137
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03948742151260376,
+              "ssim_fused": 0.8748496174812317,
+              "seg_l1": 0.06469511240720749,
+              "seg_ssim_ref": 0.8748480677604675,
+              "depth": 0.014727534582311961,
+              "rgb_loss": 0.05662001296877861,
+              "seg_loss": 0.07678648084402084,
+              "total": 0.13342121762209147,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014727534582311961,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011633264834048071
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025515088811516762,
+              "ssim_fused": 0.9084619879722595,
+              "seg_l1": 0.037176404148340225,
+              "seg_ssim_ref": 0.9084606170654297,
+              "depth": 0.009814578882424523,
+              "rgb_loss": 0.038719672709703445,
+              "seg_loss": 0.04804900288581848,
+              "total": 0.08677848644911405,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009814578882424523,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008526564559507857
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020311573520302773,
+              "ssim_fused": 0.9112765789031982,
+              "seg_l1": 0.025818990543484688,
+              "seg_ssim_ref": 0.9112751483917236,
+              "depth": 0.0059138784391978855,
+              "rgb_loss": 0.03399394452571869,
+              "seg_loss": 0.03840016573667526,
+              "total": 0.07240002414083314,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0059138784391978855,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0059138784391978855
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 288,
+        "adam_update_count": 48384
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24533475702628493
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_6cf415199a094b0796fd803210289308_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 289,
+  "next_interval": 0,
+  "next_adam_update": 48385,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 288,
+    "trained_intervals": 48384,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48384,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.614753246307373,
+      "median": 10.495793342590332,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.2725256085395813,
+      "median": 9.279128074645996,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013404454803094268,
+      "median": 36163.05859375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.3132771253585815,
+      "median": 10739.828125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23498,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0289.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0289",
+  "executed_epochs": 289,
+  "score": null,
+  "best_score": 0.08931522002910007,
+  "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_f50495509c6647c9adfe8465985ca082.npz",
+  "optimizer_file": "boundary_f50495509c6647c9adfe8465985ca082_optimizer.pt",
+  "arrays_sha256": "fb37f6dd65fc16cc19498dd987567f2f6b5ac9ae7f64eb75b931a3e7815aefee",
+  "optimizer_sha256": "e78df2c6b3116a6e24972e181c2f26d1e291558a29f1657e9349f8f3474c23a3",
+  "stage": "adam",
+  "completed_passes": 289,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48552,
+  "adam_update_count": 48552,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 290,
+    "consumed_count": 289,
+    "last_submitted_update": 48552,
+    "last_consumed_update": 48384,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48552,
+          "completed_passes": 289,
+          "next_interval": 0,
+          "trained_intervals": 48552,
+          "snapshot": "pass_end_0289",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 47544,
+  "pass_science": {
+    "completed_passes": 289,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48552,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48552,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002065442386083305,
+            "update_l2": 0.06638215482234955
+          },
+          "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": 3.33412281179335e-05,
+            "update_l2": 0.002630028873682022
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10729292732797178,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23515,
+          "attachment": 120,
+          "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": 0.10729292732797178,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03394175320863724,
+            "ssim_fused": 0.8929576277732849,
+            "seg_l1": 0.046637680381536484,
+            "seg_ssim_ref": 0.8929563760757446,
+            "depth": 0.012175637703263718,
+            "rgb_loss": 0.04856187850236893,
+            "seg_loss": 0.05871887132525444,
+            "total": 0.10729292732797178
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05169368535280228,
+              "ssim_fused": 0.8749130964279175,
+              "seg_l1": 0.06132294610142708,
+              "seg_ssim_ref": 0.874912440776825,
+              "depth": 0.019132852251905846,
+              "rgb_loss": 0.0663723349571228,
+              "seg_loss": 0.07407587021589279,
+              "total": 0.1404673454758481,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019132852251905846,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01364262872760029
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03909388929605484,
+              "ssim_fused": 0.8754894733428955,
+              "seg_l1": 0.0640178769826889,
+              "seg_ssim_ref": 0.8754879236221313,
+              "depth": 0.014424655722438671,
+              "rgb_loss": 0.05617721751332283,
+              "seg_loss": 0.07611671835184097,
+              "total": 0.13230836424617654,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014424655722438671,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01133038597417478
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025284623727202415,
+              "ssim_fused": 0.9088984727859497,
+              "seg_l1": 0.03662778437137604,
+              "seg_ssim_ref": 0.9088971018791199,
+              "depth": 0.009536686908952737,
+              "rgb_loss": 0.03844800591468811,
+              "seg_loss": 0.047522805631160736,
+              "total": 0.0859803482327578,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009536686908952737,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00824867258603607
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019694805145263672,
+              "ssim_fused": 0.912529468536377,
+              "seg_l1": 0.024582117795944214,
+              "seg_ssim_ref": 0.9125280380249023,
+              "depth": 0.005608355929757624,
+              "rgb_loss": 0.033249951899051666,
+              "seg_loss": 0.03716008737683296,
+              "total": 0.07041565135710469,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005608355929757624,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005608355929757624
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 289,
+        "adam_update_count": 48552
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24882134702056646
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_f50495509c6647c9adfe8465985ca082_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 290,
+  "next_interval": 0,
+  "next_adam_update": 48553,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 289,
+    "trained_intervals": 48552,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48552,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.622145175933838,
+      "median": 10.496182441711426,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.2505861520767212,
+      "median": 9.267924308776855,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013305735774338245,
+      "median": 36177.12890625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.2847782373428345,
+      "median": 10615.400390625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23515,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0290.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0290",
+  "executed_epochs": 290,
+  "score": null,
+  "best_score": 0.08928009164105395,
+  "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_d2c78c8f3c9142178a87f38994558fb1.npz",
+  "optimizer_file": "boundary_d2c78c8f3c9142178a87f38994558fb1_optimizer.pt",
+  "arrays_sha256": "de9a63bc192c52540758816ef8c266a7f7d0a5e155929802b41b75e158c60e4a",
+  "optimizer_sha256": "4e0b05469922c0d6cffaafce87cc05f3dc9825460b5b5e573383d0b8f6d504ad",
+  "stage": "adam",
+  "completed_passes": 290,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48720,
+  "adam_update_count": 48720,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 291,
+    "consumed_count": 290,
+    "last_submitted_update": 48720,
+    "last_consumed_update": 48552,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48720,
+          "completed_passes": 290,
+          "next_interval": 0,
+          "trained_intervals": 48720,
+          "snapshot": "pass_end_0290",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48552,
+  "pass_science": {
+    "completed_passes": 290,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48720,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48720,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00019214495841879398,
+            "update_l2": 0.0780332088470459
+          },
+          "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": 3.3118951250799e-05,
+            "update_l2": 0.00338693312369287
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10748111546317955,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23529,
+          "attachment": 120,
+          "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": 0.10748111546317955,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03402143716812134,
+            "ssim_fused": 0.8931591510772705,
+            "seg_l1": 0.04689367115497589,
+            "seg_ssim_ref": 0.8931578993797302,
+            "depth": 0.01244150380513178,
+            "rgb_loss": 0.04858532175421715,
+            "seg_loss": 0.05888335406780243,
+            "total": 0.10748111546317955
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05218387022614479,
+              "ssim_fused": 0.8746098875999451,
+              "seg_l1": 0.06221688911318779,
+              "seg_ssim_ref": 0.8746093511581421,
+              "depth": 0.019400938306670477,
+              "rgb_loss": 0.06682512164115906,
+              "seg_loss": 0.0748516395688057,
+              "total": 0.1416961546976908,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019400938306670477,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013910714782364926
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03885085880756378,
+              "ssim_fused": 0.8760799765586853,
+              "seg_l1": 0.06338191032409668,
+              "seg_ssim_ref": 0.8760783672332764,
+              "depth": 0.014572780384094352,
+              "rgb_loss": 0.055864691734313965,
+              "seg_loss": 0.07548985630273819,
+              "total": 0.13136911336685564,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014572780384094352,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011478510635830462
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02550804428756237,
+              "ssim_fused": 0.9091477394104004,
+              "seg_l1": 0.037486616522073746,
+              "seg_ssim_ref": 0.9091464281082153,
+              "depth": 0.010147522753063952,
+              "rgb_loss": 0.0385768860578537,
+              "seg_loss": 0.04816000908613205,
+              "total": 0.08674704266673881,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010147522753063952,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008859508430147284
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01954297162592411,
+              "ssim_fused": 0.9127989411354065,
+              "seg_l1": 0.0244892705231905,
+              "seg_ssim_ref": 0.9127975106239319,
+              "depth": 0.005644773776698341,
+              "rgb_loss": 0.03307459130883217,
+              "seg_loss": 0.03703191503882408,
+              "total": 0.07011215112143294,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005644773776698341,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.00564477377669834
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 290,
+        "adam_update_count": 48720
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2406993058975786
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_d2c78c8f3c9142178a87f38994558fb1_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 291,
+  "next_interval": 0,
+  "next_adam_update": 48721,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 290,
+    "trained_intervals": 48720,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48720,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.636728763580322,
+      "median": 10.497529983520508,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.22190916538238525,
+      "median": 9.251325607299805,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0013113098684698343,
+      "median": 36225.9140625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.248457908630371,
+      "median": 10432.076171875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23530,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0291.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0291",
+  "executed_epochs": 291,
+  "score": null,
+  "best_score": 0.08928009164105395,
+  "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_64e89661e1fa4e64947db9bd1a3cfc90.npz",
+  "optimizer_file": "boundary_64e89661e1fa4e64947db9bd1a3cfc90_optimizer.pt",
+  "arrays_sha256": "a8fe6bb91b692f8513d51f49e1c715ebd23dcdb325202ab1e188ade4427526ab",
+  "optimizer_sha256": "b8bb74913d131bbb9a27170ec8a1349361591e1cce79a1677aac7c9b54f43805",
+  "stage": "adam",
+  "completed_passes": 291,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 48888,
+  "adam_update_count": 48888,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 292,
+    "consumed_count": 291,
+    "last_submitted_update": 48888,
+    "last_consumed_update": 48720,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 48888,
+          "completed_passes": 291,
+          "next_interval": 0,
+          "trained_intervals": 48888,
+          "snapshot": "pass_end_0291",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48552,
+  "pass_science": {
+    "completed_passes": 291,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 48888,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 48888,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00023359913029707968,
+            "update_l2": 0.0660984218120575
+          },
+          "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": 3.7656263884855434e-05,
+            "update_l2": 0.0032986190635710955
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1078461288025266,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23545,
+          "attachment": 120,
+          "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": 1,
+          "ground_restitution/contact_active": 1
+        },
+        "photometric_transition": {
+          "transition_index": 167,
+          "loss": 0.1078461288025266,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034124307334423065,
+            "ssim_fused": 0.8927333354949951,
+            "seg_l1": 0.047034211456775665,
+            "seg_ssim_ref": 0.8927321434020996,
+            "depth": 0.012393157709242628,
+            "rgb_loss": 0.04875278100371361,
+            "seg_loss": 0.05908095836639404,
+            "total": 0.1078461288025266
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05212116241455078,
+              "ssim_fused": 0.8745906352996826,
+              "seg_l1": 0.06219234690070152,
+              "seg_ssim_ref": 0.8745898604393005,
+              "depth": 0.019366853554597926,
+              "rgb_loss": 0.06677880883216858,
+              "seg_loss": 0.07483590394258499,
+              "total": 0.14163407217772758,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019366853554597926,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01387663003029237
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03902864083647728,
+              "ssim_fused": 0.8757721185684204,
+              "seg_l1": 0.06398069858551025,
+              "seg_ssim_ref": 0.8757705688476562,
+              "depth": 0.014677542500873615,
+              "rgb_loss": 0.05606848746538162,
+              "seg_loss": 0.07603044807910919,
+              "total": 0.13211362053757228,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014677542500873615,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011583272752609727
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02557516098022461,
+              "ssim_fused": 0.9084789156913757,
+              "seg_l1": 0.03721627593040466,
+              "seg_ssim_ref": 0.9084776639938354,
+              "depth": 0.009863049667870057,
+              "rgb_loss": 0.0387643463909626,
+              "seg_loss": 0.04807748645544052,
+              "total": 0.08685169962136129,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009863049667870057,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008575035344953389
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019772261381149292,
+              "ssim_fused": 0.9120916724205017,
+              "seg_l1": 0.02474752441048622,
+              "seg_ssim_ref": 0.9120901823043823,
+              "depth": 0.005665185113628913,
+              "rgb_loss": 0.03339947760105133,
+              "seg_loss": 0.03737998381257057,
+              "total": 0.07078512287344524,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005665185113628913,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005665185113628913
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 291,
+        "adam_update_count": 48888
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25129946088418365
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_64e89661e1fa4e64947db9bd1a3cfc90_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 292,
+  "next_interval": 0,
+  "next_adam_update": 48889,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 291,
+    "trained_intervals": 48888,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 48888,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.6526689529418945,
+      "median": 10.49850082397461,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.20122221112251282,
+      "median": 9.244552612304688,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001290573040023446,
+      "median": 36261.09765625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.2228965759277344,
+      "median": 10358.5,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23545,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0292.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0292",
+  "executed_epochs": 292,
+  "score": null,
+  "best_score": 0.08928009164105395,
+  "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_c52f395dce5249c59ddb20ec3b7d11ee.npz",
+  "optimizer_file": "boundary_c52f395dce5249c59ddb20ec3b7d11ee_optimizer.pt",
+  "arrays_sha256": "3fe4f0d63b122ba2a91f45c26626cd21ba18080402b7baa27728d6274c3827a3",
+  "optimizer_sha256": "b4152af3b3518e235a52813315ec86d1e3db954d7903f9e8afc78113eba12bf8",
+  "stage": "adam",
+  "completed_passes": 292,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49056,
+  "adam_update_count": 49056,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 293,
+    "consumed_count": 292,
+    "last_submitted_update": 49056,
+    "last_consumed_update": 48888,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49056,
+          "completed_passes": 292,
+          "next_interval": 0,
+          "trained_intervals": 49056,
+          "snapshot": "pass_end_0292",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48552,
+  "pass_science": {
+    "completed_passes": 292,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49056,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49056,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002591384691186249,
+            "update_l2": 0.07260588556528091
+          },
+          "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": 3.3777218050090596e-05,
+            "update_l2": 0.002880221465602517
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10752388448297764,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23554,
+          "attachment": 120,
+          "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": 0.10752388448297764,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03402906283736229,
+            "ssim_fused": 0.8928292989730835,
+            "seg_l1": 0.04677479714155197,
+            "seg_ssim_ref": 0.8928279876708984,
+            "depth": 0.012256063816793191,
+            "rgb_loss": 0.04865739122033119,
+            "seg_loss": 0.05885423719882965,
+            "total": 0.10752388448297764
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05197528377175331,
+              "ssim_fused": 0.8745888471603394,
+              "seg_l1": 0.06178859993815422,
+              "seg_ssim_ref": 0.874588131904602,
+              "depth": 0.01927453121137197,
+              "rgb_loss": 0.06666246056556702,
+              "seg_loss": 0.0745132565498352,
+              "total": 0.1411949916466136,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01927453121137197,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013784307687066417
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03913288936018944,
+              "ssim_fused": 0.8758609890937805,
+              "seg_l1": 0.06392458081245422,
+              "seg_ssim_ref": 0.8758594393730164,
+              "depth": 0.014531175820387692,
+              "rgb_loss": 0.05613411217927933,
+              "seg_loss": 0.07596777379512787,
+              "total": 0.1321164246008082,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014531175820387692,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011436906072123804
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025393418967723846,
+              "ssim_fused": 0.9080960750579834,
+              "seg_l1": 0.03688313812017441,
+              "seg_ssim_ref": 0.9080947041511536,
+              "depth": 0.009647207274585705,
+              "rgb_loss": 0.03869552165269852,
+              "seg_loss": 0.04788757115602493,
+              "total": 0.08659274001599804,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009647207274585705,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008359192951669037
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019614659249782562,
+              "ssim_fused": 0.9127712845802307,
+              "seg_l1": 0.024502871558070183,
+              "seg_ssim_ref": 0.9127697944641113,
+              "depth": 0.005571340960827398,
+              "rgb_loss": 0.03313747048377991,
+              "seg_loss": 0.03704833984375,
+              "total": 0.07019138166849073,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005571340960827398,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005571340960827398
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 292,
+        "adam_update_count": 49056
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24929968710057437
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c52f395dce5249c59ddb20ec3b7d11ee_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 293,
+  "next_interval": 0,
+  "next_adam_update": 49057,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 292,
+    "trained_intervals": 49056,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49056,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.667214870452881,
+      "median": 10.50671100616455,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.1834384948015213,
+      "median": 9.260440826416016,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0012719363439828157,
+      "median": 36560.03515625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.201341152191162,
+      "median": 10519.0107421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23554,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0293.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0293",
+  "executed_epochs": 293,
+  "score": null,
+  "best_score": 0.08928009164105395,
+  "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_8e92a557458b46daaee4ca1aacb8b39b.npz",
+  "optimizer_file": "boundary_8e92a557458b46daaee4ca1aacb8b39b_optimizer.pt",
+  "arrays_sha256": "e1fe6f08360a0c70250c863844f03e7fc84ab37d69c62a1ecf26f1cd804d21bc",
+  "optimizer_sha256": "ebe23f5fec3dd21ee7326fcb74acb7f79f6ca8f09ec283971993d729c30c45ae",
+  "stage": "adam",
+  "completed_passes": 293,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49224,
+  "adam_update_count": 49224,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 294,
+    "consumed_count": 293,
+    "last_submitted_update": 49224,
+    "last_consumed_update": 49056,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49224,
+          "completed_passes": 293,
+          "next_interval": 0,
+          "trained_intervals": 49224,
+          "snapshot": "pass_end_0293",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48552,
+  "pass_science": {
+    "completed_passes": 293,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49224,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49224,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00015947758220136166,
+            "update_l2": 0.06695396453142166
+          },
+          "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": 3.351691702846438e-05,
+            "update_l2": 0.0035529297310858965
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10750028635109161,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23575,
+          "attachment": 120,
+          "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": 0.10750028635109161,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034011200070381165,
+            "ssim_fused": 0.8931214213371277,
+            "seg_l1": 0.046909064054489136,
+            "seg_ssim_ref": 0.8931202292442322,
+            "depth": 0.0124141081640514,
+            "rgb_loss": 0.048584673553705215,
+            "seg_loss": 0.058903198689222336,
+            "total": 0.10750028635109161
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05191462114453316,
+              "ssim_fused": 0.8750761151313782,
+              "seg_l1": 0.06192929297685623,
+              "seg_ssim_ref": 0.8750756978988647,
+              "depth": 0.019342462331781086,
+              "rgb_loss": 0.06651647388935089,
+              "seg_loss": 0.0745282992720604,
+              "total": 0.14106410817316248,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019342462331781086,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01385223880747553
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03877910599112511,
+              "ssim_fused": 0.8765363693237305,
+              "seg_l1": 0.06347618997097015,
+              "seg_ssim_ref": 0.8765348196029663,
+              "depth": 0.014616660182640837,
+              "rgb_loss": 0.05571601167321205,
+              "seg_loss": 0.07547398656606674,
+              "total": 0.13120461862475175,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014616660182640837,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01152239043437695
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02570151910185814,
+              "ssim_fused": 0.9083315134048462,
+              "seg_l1": 0.03763016685843468,
+              "seg_ssim_ref": 0.9083302617073059,
+              "depth": 0.01004663051818989,
+              "rgb_loss": 0.03889491409063339,
+              "seg_loss": 0.04843807965517044,
+              "total": 0.08734304037632203,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01004663051818989,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008758616195273222
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019649554044008255,
+              "ssim_fused": 0.9125416874885559,
+              "seg_l1": 0.024600589647889137,
+              "seg_ssim_ref": 0.9125402569770813,
+              "depth": 0.005650679623593784,
+              "rgb_loss": 0.03321130573749542,
+              "seg_loss": 0.03717242181301117,
+              "total": 0.07038937823013018,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005650679623593784,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005650679623593784
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 293,
+        "adam_update_count": 49224
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25855632801540196
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_8e92a557458b46daaee4ca1aacb8b39b_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 294,
+  "next_interval": 0,
+  "next_adam_update": 49225,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 293,
+    "trained_intervals": 49224,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49224,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.681782245635986,
+      "median": 10.508881568908691,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.15687425434589386,
+      "median": 9.245543479919434,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0012535417918115854,
+      "median": 36639.4765625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.1698485612869263,
+      "median": 10360.248046875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23576,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0294.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0294",
+  "executed_epochs": 294,
+  "score": null,
+  "best_score": 0.08928009164105395,
+  "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_a1aa28316a154390935add2bebe75b11.npz",
+  "optimizer_file": "boundary_a1aa28316a154390935add2bebe75b11_optimizer.pt",
+  "arrays_sha256": "29e6536958ac8f37da7e438b94d7aff9f45bc662eb7588b6670ad2a2c3e6d805",
+  "optimizer_sha256": "ba8e9cc7e5ce33ab13ed1110b4e8c0332b9338710e96542d69194df37e19ec71",
+  "stage": "adam",
+  "completed_passes": 294,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49392,
+  "adam_update_count": 49392,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 295,
+    "consumed_count": 294,
+    "last_submitted_update": 49392,
+    "last_consumed_update": 49224,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49392,
+          "completed_passes": 294,
+          "next_interval": 0,
+          "trained_intervals": 49392,
+          "snapshot": "pass_end_0294",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 48552,
+  "pass_science": {
+    "completed_passes": 294,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49392,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49392,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0001609539322089404,
+            "update_l2": 0.06253721565008163
+          },
+          "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": 3.323408600408584e-05,
+            "update_l2": 0.002516450360417366
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10726529259554943,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23594,
+          "attachment": 120,
+          "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": 0.10726529259554943,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0339277982711792,
+            "ssim_fused": 0.89335036277771,
+            "seg_l1": 0.046813249588012695,
+            "seg_ssim_ref": 0.8933491110801697,
+            "depth": 0.012359510584656801,
+            "rgb_loss": 0.04847215861082077,
+            "seg_loss": 0.05878077447414398,
+            "total": 0.10726529259554943
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05181129649281502,
+              "ssim_fused": 0.8754389882087708,
+              "seg_l1": 0.06191972643136978,
+              "seg_ssim_ref": 0.8754384517669678,
+              "depth": 0.019325700359106603,
+              "rgb_loss": 0.06636124104261398,
+              "seg_loss": 0.07444809377193451,
+              "total": 0.14082865306432701,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019325700359106603,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013835476834801052
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038774918764829636,
+              "ssim_fused": 0.8766117095947266,
+              "seg_l1": 0.06347855925559998,
+              "seg_ssim_ref": 0.8766100406646729,
+              "depth": 0.014570250814836731,
+              "rgb_loss": 0.055697593837976456,
+              "seg_loss": 0.07546083629131317,
+              "total": 0.13117299665481416,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014570250814836731,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011475981066572842
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025570254772901535,
+              "ssim_fused": 0.908711314201355,
+              "seg_l1": 0.03739618510007858,
+              "seg_ssim_ref": 0.9087100028991699,
+              "depth": 0.00996072499124566,
+              "rgb_loss": 0.03871393948793411,
+              "seg_loss": 0.04817494750022888,
+              "total": 0.08689884771315425,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.00996072499124566,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008672710668328995
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019554711878299713,
+              "ssim_fused": 0.9126394987106323,
+              "seg_l1": 0.02445852756500244,
+              "seg_ssim_ref": 0.9126380085945129,
+              "depth": 0.00558136617343821,
+              "rgb_loss": 0.033115871250629425,
+              "seg_loss": 0.037039220333099365,
+              "total": 0.07016067294990223,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.00558136617343821,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005581366173438211
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 294,
+        "adam_update_count": 49392
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24268696806393564
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_a1aa28316a154390935add2bebe75b11_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 295,
+  "next_interval": 0,
+  "next_adam_update": 49393,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 294,
+    "trained_intervals": 49392,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49392,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.695100784301758,
+      "median": 10.512633323669434,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.14756682515144348,
+      "median": 9.263189315795898,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0012369572650641203,
+      "median": 36777.19921875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.1590107679367065,
+      "median": 10545.505859375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23594,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0295.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0295",
+  "executed_epochs": 295,
+  "score": null,
+  "best_score": 0.08886597913158142,
+  "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_c1ac106b41f840558b30bb25299a3c66.npz",
+  "optimizer_file": "boundary_c1ac106b41f840558b30bb25299a3c66_optimizer.pt",
+  "arrays_sha256": "368d5a249c751b148fae777a169bdd2915ebbbb021089969e3987378cbf9b146",
+  "optimizer_sha256": "15b7c33eda17732455c880a0b74888e9af16b4d90fe4b94122cfa98b1e615f7b",
+  "stage": "adam",
+  "completed_passes": 295,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49560,
+  "adam_update_count": 49560,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 296,
+    "consumed_count": 295,
+    "last_submitted_update": 49560,
+    "last_consumed_update": 49392,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49560,
+          "completed_passes": 295,
+          "next_interval": 0,
+          "trained_intervals": 49560,
+          "snapshot": "pass_end_0295",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49392,
+  "pass_science": {
+    "completed_passes": 295,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49560,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49560,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00018826757150236517,
+            "update_l2": 0.06927870959043503
+          },
+          "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": 3.510893657221459e-05,
+            "update_l2": 0.0035298818256706
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10739019735547671,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23603,
+          "attachment": 120,
+          "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": 0.10739019735547671,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03402189165353775,
+            "ssim_fused": 0.8932549357414246,
+            "seg_l1": 0.04682748019695282,
+            "seg_ssim_ref": 0.8932535648345947,
+            "depth": 0.012399990288102092,
+            "rgb_loss": 0.048566531389951706,
+            "seg_loss": 0.058811262249946594,
+            "total": 0.10739019735547671
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05239585414528847,
+              "ssim_fused": 0.8738228678703308,
+              "seg_l1": 0.06261909753084183,
+              "seg_ssim_ref": 0.8738221526145935,
+              "depth": 0.019506647453080967,
+              "rgb_loss": 0.06715211272239685,
+              "seg_loss": 0.07533084601163864,
+              "total": 0.14250247283206918,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019506647453080967,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01401642392877541
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03888801857829094,
+              "ssim_fused": 0.8761970400810242,
+              "seg_l1": 0.06342238187789917,
+              "seg_ssim_ref": 0.8761953711509705,
+              "depth": 0.014482320958796062,
+              "rgb_loss": 0.055871009826660156,
+              "seg_loss": 0.07549883425235748,
+              "total": 0.13138432639997644,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014482320958796062,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011388051210532173
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025492971763014793,
+              "ssim_fused": 0.909101128578186,
+              "seg_l1": 0.037284206598997116,
+              "seg_ssim_ref": 0.909099817276001,
+              "depth": 0.010029640937870263,
+              "rgb_loss": 0.03857415169477463,
+              "seg_loss": 0.04800740256905556,
+              "total": 0.08659158763005835,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010029640937870263,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008741626614953599
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019310718402266502,
+              "ssim_fused": 0.9138986468315125,
+              "seg_l1": 0.023984244093298912,
+              "seg_ssim_ref": 0.9138970971107483,
+              "depth": 0.0055813518026610835,
+              "rgb_loss": 0.03266884759068489,
+              "seg_loss": 0.03640797734260559,
+              "total": 0.06908240255980284,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0055813518026610835,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0055813518026610835
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 295,
+        "adam_update_count": 49560
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24379931995645165
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c1ac106b41f840558b30bb25299a3c66_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 296,
+  "next_interval": 0,
+  "next_adam_update": 49561,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 295,
+    "trained_intervals": 49560,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49560,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.708693027496338,
+      "median": 10.519911766052246,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.12539897859096527,
+      "median": 9.264354705810547,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0012202579528093338,
+      "median": 37045.85546875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.1336005926132202,
+      "median": 10556.482421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23603,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0296.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0296",
+  "executed_epochs": 296,
+  "score": null,
+  "best_score": 0.08883815062081099,
+  "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_c3ed095cad864190ab245101610e531e.npz",
+  "optimizer_file": "boundary_c3ed095cad864190ab245101610e531e_optimizer.pt",
+  "arrays_sha256": "456084360a10603b85fc2c8f0b9389e922b3c1e46e5253c819c0684f6fea1fdf",
+  "optimizer_sha256": "a14cc903779b3782787e27900f42d4b7895b35ef356d2e4b2127af11bc6399e7",
+  "stage": "adam",
+  "completed_passes": 296,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49728,
+  "adam_update_count": 49728,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 297,
+    "consumed_count": 296,
+    "last_submitted_update": 49728,
+    "last_consumed_update": 49560,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49728,
+          "completed_passes": 296,
+          "next_interval": 0,
+          "trained_intervals": 49728,
+          "snapshot": "pass_end_0296",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49560,
+  "pass_science": {
+    "completed_passes": 296,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49728,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49728,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0007961054216139019,
+            "update_l2": 0.07166378200054169
+          },
+          "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": 3.4757438697852194e-05,
+            "update_l2": 0.003928280435502529
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1075834652817014,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23618,
+          "attachment": 120,
+          "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": 0.1075834652817014,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0340866781771183,
+            "ssim_fused": 0.8931161165237427,
+            "seg_l1": 0.0469348318874836,
+            "seg_ssim_ref": 0.8931149244308472,
+            "depth": 0.012468773699134569,
+            "rgb_loss": 0.04864611476659775,
+            "seg_loss": 0.05892488360404968,
+            "total": 0.1075834652817014
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052444346249103546,
+              "ssim_fused": 0.8738626837730408,
+              "seg_l1": 0.06258513778448105,
+              "seg_ssim_ref": 0.8738620281219482,
+              "depth": 0.01953419048783951,
+              "rgb_loss": 0.06718294322490692,
+              "seg_loss": 0.07529570162296295,
+              "total": 0.1424981790383577,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01953419048783951,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014043966963533959
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038918863981962204,
+              "ssim_fused": 0.876099705696106,
+              "seg_l1": 0.06348524242639542,
+              "seg_ssim_ref": 0.8760981559753418,
+              "depth": 0.014550763814952227,
+              "rgb_loss": 0.05591515079140663,
+              "seg_loss": 0.07556856423616409,
+              "total": 0.13149826951667598,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014550763814952227,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011456494066688335
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02564403973519802,
+              "ssim_fused": 0.9085246920585632,
+              "seg_l1": 0.03760051354765892,
+              "seg_ssim_ref": 0.9085233807563782,
+              "depth": 0.010204539342450185,
+              "rgb_loss": 0.03881029412150383,
+              "seg_loss": 0.04837573319673538,
+              "total": 0.08719622813229136,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010204539342450185,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008916525019533517
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019339459016919136,
+              "ssim_fused": 0.9139775037765503,
+              "seg_l1": 0.024068431928753853,
+              "seg_ssim_ref": 0.9139760732650757,
+              "depth": 0.005585601151296351,
+              "rgb_loss": 0.03267606720328331,
+              "seg_loss": 0.036459531635046005,
+              "total": 0.06914118443948061,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005585601151296351,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005585601151296351
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 296,
+        "adam_update_count": 49728
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24250526702962816
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c3ed095cad864190ab245101610e531e_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 297,
+  "next_interval": 0,
+  "next_adam_update": 49729,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 296,
+    "trained_intervals": 49728,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49728,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.722142219543457,
+      "median": 10.527143478393555,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.1043204665184021,
+      "median": 9.266157150268555,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0012039563152939081,
+      "median": 37314.734375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.10995614528656,
+      "median": 10574.7421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23618,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0297.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0297",
+  "executed_epochs": 297,
+  "score": null,
+  "best_score": 0.08883815062081099,
+  "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_d3183ef2d1814fe1be1e6b0ef2d259a0.npz",
+  "optimizer_file": "boundary_d3183ef2d1814fe1be1e6b0ef2d259a0_optimizer.pt",
+  "arrays_sha256": "b57fd58154966041aeecafa397554f8859c42322964d844e53554a83f442f688",
+  "optimizer_sha256": "4ed636b01d0fedf9af72df904e9ca2490ddf9715dcf37f01a67a52f9c0bc49a6",
+  "stage": "adam",
+  "completed_passes": 297,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 49896,
+  "adam_update_count": 49896,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 298,
+    "consumed_count": 297,
+    "last_submitted_update": 49896,
+    "last_consumed_update": 49728,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 49896,
+          "completed_passes": 297,
+          "next_interval": 0,
+          "trained_intervals": 49896,
+          "snapshot": "pass_end_0297",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49560,
+  "pass_science": {
+    "completed_passes": 297,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 49896,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 49896,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0001792211551219225,
+            "update_l2": 0.0665564015507698
+          },
+          "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": 3.234854739275761e-05,
+            "update_l2": 0.0038190337363630533
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10746396040423184,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23630,
+          "attachment": 120,
+          "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": 0.10746396040423184,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03402872011065483,
+            "ssim_fused": 0.8932620286941528,
+            "seg_l1": 0.04691635072231293,
+            "seg_ssim_ref": 0.8932608366012573,
+            "depth": 0.012460033133320749,
+            "rgb_loss": 0.04857057332992554,
+            "seg_loss": 0.05888092890381813,
+            "total": 0.10746396040423184
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05219446122646332,
+              "ssim_fused": 0.8746283650398254,
+              "seg_l1": 0.062258023768663406,
+              "seg_ssim_ref": 0.8746276497840881,
+              "depth": 0.01941944550517235,
+              "rgb_loss": 0.06682989746332169,
+              "seg_loss": 0.07488089054822922,
+              "total": 0.14173020745705608,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01941944550517235,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013929221980866796
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03882720321416855,
+              "ssim_fused": 0.8763319253921509,
+              "seg_l1": 0.06333700567483902,
+              "seg_ssim_ref": 0.8763304948806763,
+              "depth": 0.014518941215758162,
+              "rgb_loss": 0.05579537898302078,
+              "seg_loss": 0.07540351152420044,
+              "total": 0.1312134019978564,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014518941215758162,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011424671467494273
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02565756067633629,
+              "ssim_fused": 0.9085707664489746,
+              "seg_l1": 0.03778645768761635,
+              "seg_ssim_ref": 0.9085695147514343,
+              "depth": 0.01028219941599605,
+              "rgb_loss": 0.03881189599633217,
+              "seg_loss": 0.04851526394486427,
+              "total": 0.08733744214061244,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01028219941599605,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008994185093079385
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019435657188296318,
+              "ssim_fused": 0.9135169982910156,
+              "seg_l1": 0.024283921346068382,
+              "seg_ssim_ref": 0.9135154485702515,
+              "depth": 0.005619546396356438,
+              "rgb_loss": 0.03284512832760811,
+              "seg_loss": 0.03672404587268829,
+              "total": 0.06957479002140246,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005619546396356438,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0056195463963564386
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 297,
+        "adam_update_count": 49896
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24619475891813636
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_d3183ef2d1814fe1be1e6b0ef2d259a0_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 298,
+  "next_interval": 0,
+  "next_adam_update": 49897,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 297,
+    "trained_intervals": 49896,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 49896,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.73590612411499,
+      "median": 10.536245346069336,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.07525520771741867,
+      "median": 9.262734413146973,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0011874986812472343,
+      "median": 37655.91796875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.078159213066101,
+      "median": 10537.9267578125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23630,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0298.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0298",
+  "executed_epochs": 298,
+  "score": null,
+  "best_score": 0.08883815062081099,
+  "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_68aca1c172f94ec1901a1cee9a8dc9b4.npz",
+  "optimizer_file": "boundary_68aca1c172f94ec1901a1cee9a8dc9b4_optimizer.pt",
+  "arrays_sha256": "66cc72cf0067c15f1eaeecc7381994c6e290ceb70742ab5447b8f9b8bc41a104",
+  "optimizer_sha256": "e1d924dd294aa7a0f99812db6cfb27423b65b9abf6baebf3e304aea6456b025b",
+  "stage": "adam",
+  "completed_passes": 298,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50064,
+  "adam_update_count": 50064,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 299,
+    "consumed_count": 298,
+    "last_submitted_update": 50064,
+    "last_consumed_update": 49896,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50064,
+          "completed_passes": 298,
+          "next_interval": 0,
+          "trained_intervals": 50064,
+          "snapshot": "pass_end_0298",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49560,
+  "pass_science": {
+    "completed_passes": 298,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50064,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50064,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00015920886653475463,
+            "update_l2": 0.0678647980093956
+          },
+          "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": 3.070149614359252e-05,
+            "update_l2": 0.003529205219820142
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10762897792709186,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23646,
+          "attachment": 120,
+          "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": 0.10762897792709186,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034089963883161545,
+            "ssim_fused": 0.8931262493133545,
+            "seg_l1": 0.0469934307038784,
+            "seg_ssim_ref": 0.8931249976158142,
+            "depth": 0.012512388351693453,
+            "rgb_loss": 0.0486467219889164,
+            "seg_loss": 0.05896974354982376,
+            "total": 0.10762897792709186
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05203187093138695,
+              "ssim_fused": 0.8746464252471924,
+              "seg_l1": 0.06195385381579399,
+              "seg_ssim_ref": 0.8746457099914551,
+              "depth": 0.019414814741176088,
+              "rgb_loss": 0.06669621169567108,
+              "seg_loss": 0.07463394105434418,
+              "total": 0.14134956756475645,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019414814741176088,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013924591216870534
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03890911862254143,
+              "ssim_fused": 0.8764008283615112,
+              "seg_l1": 0.06361989676952362,
+              "seg_ssim_ref": 0.8763992190361023,
+              "depth": 0.014696639645731386,
+              "rgb_loss": 0.055847130715847015,
+              "seg_loss": 0.07561607658863068,
+              "total": 0.13147789649354283,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014696639645731386,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.0116023698974675
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02578256092965603,
+              "ssim_fused": 0.9082955121994019,
+              "seg_l1": 0.03777863457798958,
+              "seg_ssim_ref": 0.9082942605018616,
+              "depth": 0.01018784066550589,
+              "rgb_loss": 0.03896694630384445,
+              "seg_loss": 0.04856405407190323,
+              "total": 0.08754118821641318,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01018784066550589,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008899826342589222
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019636306911706924,
+              "ssim_fused": 0.9131622314453125,
+              "seg_l1": 0.024621333926916122,
+              "seg_ssim_ref": 0.9131608009338379,
+              "depth": 0.005750258354360445,
+              "rgb_loss": 0.03307659924030304,
+              "seg_loss": 0.03706490993499756,
+              "total": 0.07014725943365496,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005750258354360445,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005750258354360445
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 298,
+        "adam_update_count": 50064
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2544257619883865
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_68aca1c172f94ec1901a1cee9a8dc9b4_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 299,
+  "next_interval": 0,
+  "next_adam_update": 50065,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 298,
+    "trained_intervals": 50064,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50064,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.748812198638916,
+      "median": 10.539559364318848,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.047029513865709305,
+      "median": 9.265693664550781,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0011722712079063058,
+      "median": 37780.9140625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.0481529235839844,
+      "median": 10569.283203125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23646,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0299.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0299",
+  "executed_epochs": 299,
+  "score": null,
+  "best_score": 0.08883815062081099,
+  "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_af4c0e20959c4feba3d0d7df9669a32b.npz",
+  "optimizer_file": "boundary_af4c0e20959c4feba3d0d7df9669a32b_optimizer.pt",
+  "arrays_sha256": "9dbca4223762836fd76ee1894a0c936677a56b356abb699317628fab843fa060",
+  "optimizer_sha256": "5bbf879bf891a1b5058fe124b5f678145d05a3a1d26b9dd1a60f4a6fb65b590e",
+  "stage": "adam",
+  "completed_passes": 299,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50232,
+  "adam_update_count": 50232,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 300,
+    "consumed_count": 299,
+    "last_submitted_update": 50232,
+    "last_consumed_update": 50064,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50232,
+          "completed_passes": 299,
+          "next_interval": 0,
+          "trained_intervals": 50232,
+          "snapshot": "pass_end_0299",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 49560,
+  "pass_science": {
+    "completed_passes": 299,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50232,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50232,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00027055139071308076,
+            "update_l2": 0.07370356470346451
+          },
+          "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": 3.2113057386595756e-05,
+            "update_l2": 0.0030981588643044233
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10754691321988133,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23656,
+          "attachment": 120,
+          "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": 0.10754691321988133,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034053608775138855,
+            "ssim_fused": 0.8931541442871094,
+            "seg_l1": 0.046941205859184265,
+            "seg_ssim_ref": 0.8931528329849243,
+            "depth": 0.012452496481207038,
+            "rgb_loss": 0.048612065613269806,
+            "seg_loss": 0.05892239511013031,
+            "total": 0.10754691321988133
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05221736058592796,
+              "ssim_fused": 0.8745031952857971,
+              "seg_l1": 0.06225821375846863,
+              "seg_ssim_ref": 0.8745024800300598,
+              "depth": 0.019516648789919627,
+              "rgb_loss": 0.06687325239181519,
+              "seg_loss": 0.07490608096122742,
+              "total": 0.1417988500018325,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019516648789919627,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014026425265614071
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.0388631746172905,
+              "ssim_fused": 0.8762953877449036,
+              "seg_l1": 0.06337826699018478,
+              "seg_ssim_ref": 0.8762938380241394,
+              "depth": 0.014516109153841777,
+              "rgb_loss": 0.055831462144851685,
+              "seg_loss": 0.07544384896755219,
+              "total": 0.13128982722155771,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014516109153841777,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01142183940557789
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025682084262371063,
+              "ssim_fused": 0.9082776308059692,
+              "seg_l1": 0.037782009690999985,
+              "seg_ssim_ref": 0.908276379108429,
+              "depth": 0.010176905577804684,
+              "rgb_loss": 0.03889014199376106,
+              "seg_loss": 0.048570334911346436,
+              "total": 0.08747065008539501,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010176905577804684,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008888891254888018
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019451817497611046,
+              "ssim_fused": 0.913540244102478,
+              "seg_l1": 0.02434631623327732,
+              "seg_ssim_ref": 0.9135386943817139,
+              "depth": 0.005600322403262059,
+              "rgb_loss": 0.03285340592265129,
+              "seg_loss": 0.0367693156003952,
+              "total": 0.06962832557074006,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005600322403262059,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.00560032240326206
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 299,
+        "adam_update_count": 50232
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2484008390456438
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_af4c0e20959c4feba3d0d7df9669a32b_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 300,
+  "next_interval": 0,
+  "next_adam_update": 50233,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 299,
+    "trained_intervals": 50232,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50232,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.765189170837402,
+      "median": 10.549873352050781,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.02596457302570343,
+      "median": 9.272579193115234,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0011532293865457177,
+      "median": 38172.60546875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.0263046026229858,
+      "median": 10643.779296875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23656,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0300.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0300",
+  "executed_epochs": 300,
+  "score": null,
+  "best_score": 0.0888260919717285,
+  "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_69589eaa18044eb187c538ba056682e0.npz",
+  "optimizer_file": "boundary_69589eaa18044eb187c538ba056682e0_optimizer.pt",
+  "arrays_sha256": "cf4a56178fa5c9bcb5480c302f74c0eaf9413bded8c260e30122c184f85911ab",
+  "optimizer_sha256": "8daa9ee99eba0a069128837de728d42b4cf15a3fbda763afa72cd6a70ce6b632",
+  "stage": "adam",
+  "completed_passes": 300,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50400,
+  "adam_update_count": 50400,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 301,
+    "consumed_count": 300,
+    "last_submitted_update": 50400,
+    "last_consumed_update": 50232,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50400,
+          "completed_passes": 300,
+          "next_interval": 0,
+          "trained_intervals": 50400,
+          "snapshot": "pass_end_0300",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50232,
+  "pass_science": {
+    "completed_passes": 300,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50400,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50400,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00021443606237880886,
+            "update_l2": 0.07437073439359665
+          },
+          "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": 3.8821515772724524e-05,
+            "update_l2": 0.003290663007646799
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10818285530864263,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23665,
+          "attachment": 120,
+          "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": 0.10818285530864263,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03435248136520386,
+            "ssim_fused": 0.892839789390564,
+            "seg_l1": 0.047279875725507736,
+            "seg_ssim_ref": 0.8928384780883789,
+            "depth": 0.0126272296812547,
+            "rgb_loss": 0.04891402646899223,
+            "seg_loss": 0.05925620347261429,
+            "total": 0.10818285530864263
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052486956119537354,
+              "ssim_fused": 0.8745282888412476,
+              "seg_l1": 0.062404438853263855,
+              "seg_ssim_ref": 0.8745275139808655,
+              "depth": 0.019583564929007813,
+              "rgb_loss": 0.06708391010761261,
+              "seg_loss": 0.07501804828643799,
+              "total": 0.1421215419589796,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019583564929007813,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014093341404702257
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03913247585296631,
+              "ssim_fused": 0.8762297630310059,
+              "seg_l1": 0.06389667838811874,
+              "seg_ssim_ref": 0.8762282729148865,
+              "depth": 0.014720971134105025,
+              "rgb_loss": 0.056060027331113815,
+              "seg_loss": 0.07587169110774994,
+              "total": 0.13194644313528817,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014720971134105025,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011626701385841137
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.026130594313144684,
+              "ssim_fused": 0.9076346158981323,
+              "seg_l1": 0.0382554717361927,
+              "seg_ssim_ref": 0.9076333045959473,
+              "depth": 0.010460008581672899,
+              "rgb_loss": 0.03937755525112152,
+              "seg_loss": 0.04907771944999695,
+              "total": 0.08846573470970014,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010460008581672899,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.009171994258756233
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019659899175167084,
+              "ssim_fused": 0.9129665493965149,
+              "seg_l1": 0.02456291951239109,
+              "seg_ssim_ref": 0.912964940071106,
+              "depth": 0.0057443740802330685,
+              "rgb_loss": 0.03313460946083069,
+              "seg_loss": 0.03705734759569168,
+              "total": 0.0701977014306026,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0057443740802330685,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005744374080233069
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 300,
+        "adam_update_count": 50400
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2477569691836834
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_69589eaa18044eb187c538ba056682e0_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 301,
+  "next_interval": 0,
+  "next_adam_update": 50401,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 300,
+    "trained_intervals": 50400,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50400,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.779879570007324,
+      "median": 10.554083824157715,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 0.0018918722635135055,
+      "median": 9.270626068115234,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001136411796323955,
+      "median": 38333.6640625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 1.0018936395645142,
+      "median": 10624.458984375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23665,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0301.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0301",
+  "executed_epochs": 301,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_a55f2870f08c4c2cb13dd9dcc2aabf23.npz",
+  "optimizer_file": "boundary_a55f2870f08c4c2cb13dd9dcc2aabf23_optimizer.pt",
+  "arrays_sha256": "aa1e03a4fefb55bbee5af85283100a5fa98d50bde7f2678fb33eb96b58c5cfed",
+  "optimizer_sha256": "05b060053561fefb3cdc9b7fee777f484b0e47af55ead9713ea98b7dafb70935",
+  "stage": "adam",
+  "completed_passes": 301,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50568,
+  "adam_update_count": 50568,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 302,
+    "consumed_count": 301,
+    "last_submitted_update": 50568,
+    "last_consumed_update": 50400,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50568,
+          "completed_passes": 301,
+          "next_interval": 0,
+          "trained_intervals": 50568,
+          "snapshot": "pass_end_0301",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 301,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50568,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50568,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00019954160961788148,
+            "update_l2": 0.06272276490926743
+          },
+          "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": 3.1577499612467363e-05,
+            "update_l2": 0.0031428560614585876
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10714974795802747,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23678,
+          "attachment": 120,
+          "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": 0.10714974795802747,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03394431248307228,
+            "ssim_fused": 0.8934424519538879,
+            "seg_l1": 0.046698302030563354,
+            "seg_ssim_ref": 0.8934412002563477,
+            "depth": 0.01238082870160388,
+            "rgb_loss": 0.048466965556144714,
+            "seg_loss": 0.05867040157318115,
+            "total": 0.10714974795802747
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0521182082593441,
+              "ssim_fused": 0.8745965361595154,
+              "seg_l1": 0.06195255368947983,
+              "seg_ssim_ref": 0.8745959997177124,
+              "depth": 0.019338725470056783,
+              "rgb_loss": 0.06677526235580444,
+              "seg_loss": 0.0746428444981575,
+              "total": 0.1414374381288514,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019338725470056783,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013848501945751228
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038733143359422684,
+              "ssim_fused": 0.876408040523529,
+              "seg_l1": 0.06314323842525482,
+              "seg_ssim_ref": 0.8764066100120544,
+              "depth": 0.01442838009620137,
+              "rgb_loss": 0.055704906582832336,
+              "seg_loss": 0.07523326575756073,
+              "total": 0.13095260072048925,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01442838009620137,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011334110347937482
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025559604167938232,
+              "ssim_fused": 0.9090140461921692,
+              "seg_l1": 0.037540681660175323,
+              "seg_ssim_ref": 0.9090126752853394,
+              "depth": 0.01015124045422223,
+              "rgb_loss": 0.03864487633109093,
+              "seg_loss": 0.04823001101613045,
+              "total": 0.0868850385876756,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01015124045422223,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008863226131305564
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01936628855764866,
+              "ssim_fused": 0.9137510657310486,
+              "seg_l1": 0.024156751111149788,
+              "seg_ssim_ref": 0.9137495756149292,
+              "depth": 0.005604968785935134,
+              "rgb_loss": 0.03274281695485115,
+              "seg_loss": 0.03657548874616623,
+              "total": 0.06932391439509361,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005604968785935134,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005604968785935134
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 301,
+        "adam_update_count": 50568
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24702208815142512
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_a55f2870f08c4c2cb13dd9dcc2aabf23_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 302,
+  "next_interval": 0,
+  "next_adam_update": 50569,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 301,
+    "trained_intervals": 50568,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50568,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.792855262756348,
+      "median": 10.558333396911621,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.02519807033240795,
+      "median": 9.272605895996094,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0011217612773180008,
+      "median": 38496.9140625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.9751167893409729,
+      "median": 10647.4208984375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23678,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0302.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0302",
+  "executed_epochs": 302,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_9ddd79ca635f4fa9bba72ebf924c58b9.npz",
+  "optimizer_file": "boundary_9ddd79ca635f4fa9bba72ebf924c58b9_optimizer.pt",
+  "arrays_sha256": "ec280498b9844c3c37f24938280cb900fbcfc86850be2d7441578fc39b28d2e8",
+  "optimizer_sha256": "00f66df2b93033e6662a40868470594a5b1530fdea5b68618e04e9c5cbf65dcd",
+  "stage": "adam",
+  "completed_passes": 302,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50736,
+  "adam_update_count": 50736,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 303,
+    "consumed_count": 302,
+    "last_submitted_update": 50736,
+    "last_consumed_update": 50568,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50736,
+          "completed_passes": 302,
+          "next_interval": 0,
+          "trained_intervals": 50736,
+          "snapshot": "pass_end_0302",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 302,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50736,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50736,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020400604989845306,
+            "update_l2": 0.07245077192783356
+          },
+          "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": 3.202476364094764e-05,
+            "update_l2": 0.0026861857622861862
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10731208214341965,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23695,
+          "attachment": 120,
+          "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": 0.10731208214341965,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033969633281230927,
+            "ssim_fused": 0.8933244347572327,
+            "seg_l1": 0.04681681469082832,
+            "seg_ssim_ref": 0.8933231830596924,
+            "depth": 0.012446956628241978,
+            "rgb_loss": 0.04851081967353821,
+            "seg_loss": 0.05878881737589836,
+            "total": 0.10731208214341965
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05183442309498787,
+              "ssim_fused": 0.8753705620765686,
+              "seg_l1": 0.06166788190603256,
+              "seg_ssim_ref": 0.8753698468208313,
+              "depth": 0.019428412405332655,
+              "rgb_loss": 0.0663934275507927,
+              "seg_loss": 0.07426033914089203,
+              "total": 0.14067318765350945,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019428412405332655,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013938188881027097
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03882148861885071,
+              "ssim_fused": 0.876441240310669,
+              "seg_l1": 0.06330893188714981,
+              "seg_ssim_ref": 0.8764396905899048,
+              "depth": 0.014507392959165543,
+              "rgb_loss": 0.0557689443230629,
+              "seg_loss": 0.07535921037197113,
+              "total": 0.1311426695385738,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014507392959165543,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011413123210901654
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025726372376084328,
+              "ssim_fused": 0.9079844951629639,
+              "seg_l1": 0.0378546379506588,
+              "seg_ssim_ref": 0.907983124256134,
+              "depth": 0.01021125566276463,
+              "rgb_loss": 0.03898420184850693,
+              "seg_loss": 0.04868708550930023,
+              "total": 0.08768149861346992,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.01021125566276463,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00892324133984796
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.0194962527602911,
+              "ssim_fused": 0.913501501083374,
+              "seg_l1": 0.024435805156826973,
+              "seg_ssim_ref": 0.9135000705718994,
+              "depth": 0.0056407654857050845,
+              "rgb_loss": 0.032896704971790314,
+              "seg_loss": 0.036848630756139755,
+              "total": 0.06975097276812547,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0056407654857050845,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005640765485705084
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 302,
+        "adam_update_count": 50736
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24519329890608788
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_9ddd79ca635f4fa9bba72ebf924c58b9_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 303,
+  "next_interval": 0,
+  "next_adam_update": 50737,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 302,
+    "trained_intervals": 50736,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50736,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.8041157722473145,
+      "median": 10.565681457519531,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.051732905209064484,
+      "median": 9.273472785949707,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0011092005297541618,
+      "median": 38780.8359375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.9495824575424194,
+      "median": 10657.583984375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23696,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0303.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0303",
+  "executed_epochs": 303,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_f73ecae38401499dae6146bdeec14ba6.npz",
+  "optimizer_file": "boundary_f73ecae38401499dae6146bdeec14ba6_optimizer.pt",
+  "arrays_sha256": "40cc81e09691f6fa303becbb66112362a0e15459287daec59be49faab81bc48f",
+  "optimizer_sha256": "c52d216eee10f7bafe8f9dc56e5d6667c5a65f95c5ebd561f654105be2c04ce8",
+  "stage": "adam",
+  "completed_passes": 303,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 50904,
+  "adam_update_count": 50904,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 304,
+    "consumed_count": 303,
+    "last_submitted_update": 50904,
+    "last_consumed_update": 50736,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 50904,
+          "completed_passes": 303,
+          "next_interval": 0,
+          "trained_intervals": 50904,
+          "snapshot": "pass_end_0303",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 303,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 50904,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 50904,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.000226389427552931,
+            "update_l2": 0.06563840061426163
+          },
+          "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": 4.350445669842884e-05,
+            "update_l2": 0.0031249243766069412
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10718446070822737,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23710,
+          "attachment": 120,
+          "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": 0.10718446070822737,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033904969692230225,
+            "ssim_fused": 0.8932048082351685,
+            "seg_l1": 0.04666246473789215,
+            "seg_ssim_ref": 0.893203616142273,
+            "depth": 0.012183883514626615,
+            "rgb_loss": 0.048483021557331085,
+            "seg_loss": 0.05868925526738167,
+            "total": 0.10718446070822737
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0520811527967453,
+              "ssim_fused": 0.8747084736824036,
+              "seg_l1": 0.062435250729322433,
+              "seg_ssim_ref": 0.8747079968452454,
+              "depth": 0.019395986015898974,
+              "rgb_loss": 0.06672322750091553,
+              "seg_loss": 0.07500660419464111,
+              "total": 0.14174922768157253,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019395986015898974,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013905762491593423
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03887098655104637,
+              "ssim_fused": 0.8765574097633362,
+              "seg_l1": 0.0637899860739708,
+              "seg_ssim_ref": 0.8765559196472168,
+              "depth": 0.014345962443288363,
+              "rgb_loss": 0.05578530579805374,
+              "seg_loss": 0.07572080194950104,
+              "total": 0.13152046116057867,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014345962443288363,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011251692695024476
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02528267167508602,
+              "ssim_fused": 0.9084419012069702,
+              "seg_l1": 0.03648192062973976,
+              "seg_ssim_ref": 0.9084405899047852,
+              "depth": 0.009468844465947607,
+              "rgb_loss": 0.038537755608558655,
+              "seg_loss": 0.04749742150306702,
+              "total": 0.08604464595609163,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009468844465947607,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00818083014303094
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019385065883398056,
+              "ssim_fused": 0.9131113290786743,
+              "seg_l1": 0.02394271269440651,
+              "seg_ssim_ref": 0.9131098985671997,
+              "depth": 0.005524741133371524,
+              "rgb_loss": 0.03288578614592552,
+              "seg_loss": 0.036532193422317505,
+              "total": 0.0694235080346667,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005524741133371524,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005524741133371524
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 303,
+        "adam_update_count": 50904
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2575971791520715
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_f73ecae38401499dae6146bdeec14ba6_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 304,
+  "next_interval": 0,
+  "next_adam_update": 50905,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 303,
+    "trained_intervals": 50904,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 50904,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.813102722167969,
+      "median": 10.572308540344238,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.07659473270177841,
+      "median": 9.268842697143555,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010992768220603466,
+      "median": 39038.6953125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.9262651801109314,
+      "median": 10607.4580078125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23710,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0304.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0304",
+  "executed_epochs": 304,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_cdbf6918509e481781dca232fc9ba829.npz",
+  "optimizer_file": "boundary_cdbf6918509e481781dca232fc9ba829_optimizer.pt",
+  "arrays_sha256": "05a75700d28eae600cfe1eebfd7ab883e1cc37ab843081d8c1e002ff1318c700",
+  "optimizer_sha256": "4dc74c0676f7dc442405488205f58070bf08673526ed7e82dcd745af95db3c7d",
+  "stage": "adam",
+  "completed_passes": 304,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51072,
+  "adam_update_count": 51072,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 305,
+    "consumed_count": 304,
+    "last_submitted_update": 51072,
+    "last_consumed_update": 50904,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51072,
+          "completed_passes": 304,
+          "next_interval": 0,
+          "trained_intervals": 51072,
+          "snapshot": "pass_end_0304",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 304,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51072,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51072,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020545230654533952,
+            "update_l2": 0.07651443779468536
+          },
+          "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": 3.216716504539363e-05,
+            "update_l2": 0.003827387932687998
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10780793665034803,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23724,
+          "attachment": 120,
+          "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": 0.10780793665034803,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0341365747153759,
+            "ssim_fused": 0.8927953243255615,
+            "seg_l1": 0.04700511321425438,
+            "seg_ssim_ref": 0.892794132232666,
+            "depth": 0.012476500702237213,
+            "rgb_loss": 0.04875019192695618,
+            "seg_loss": 0.05904526636004448,
+            "total": 0.10780793665034803
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052200544625520706,
+              "ssim_fused": 0.8742576241493225,
+              "seg_l1": 0.062059126794338226,
+              "seg_ssim_ref": 0.8742569088935852,
+              "depth": 0.019478593223948265,
+              "rgb_loss": 0.06690891087055206,
+              "seg_loss": 0.0747959166765213,
+              "total": 0.14172430614029732,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019478593223948265,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013988369699642709
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038934096693992615,
+              "ssim_fused": 0.8761709928512573,
+              "seg_l1": 0.06349243968725204,
+              "seg_ssim_ref": 0.8761695027351379,
+              "depth": 0.014564234737113843,
+              "rgb_loss": 0.05591307953000069,
+              "seg_loss": 0.0755600556731224,
+              "total": 0.1314877031631505,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014564234737113843,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011469964988849954
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02577802911400795,
+              "ssim_fused": 0.9076836705207825,
+              "seg_l1": 0.037841662764549255,
+              "seg_ssim_ref": 0.9076823592185974,
+              "depth": 0.010215632499609816,
+              "rgb_loss": 0.039085689932107925,
+              "seg_loss": 0.04873685911297798,
+              "total": 0.08783276467758552,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010215632499609816,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00892761817669315
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019633641466498375,
+              "ssim_fused": 0.9130691289901733,
+              "seg_l1": 0.02462722547352314,
+              "seg_ssim_ref": 0.9130676984786987,
+              "depth": 0.0056475423482769274,
+              "rgb_loss": 0.03309308737516403,
+              "seg_loss": 0.037088241428136826,
+              "total": 0.07018697262035883,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0056475423482769274,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0056475423482769274
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 304,
+        "adam_update_count": 51072
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2644717760849744
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_cdbf6918509e481781dca232fc9ba829_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 305,
+  "next_interval": 0,
+  "next_adam_update": 51073,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 304,
+    "trained_intervals": 51072,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51072,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.823409557342529,
+      "median": 10.581038475036621,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.09712319076061249,
+      "median": 9.267255783081055,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010880050249397755,
+      "median": 39380.98828125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.9074442386627197,
+      "median": 10586.2626953125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23724,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0305.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0305",
+  "executed_epochs": 305,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_4ff035f2f293441f8fcca85c81a3e356.npz",
+  "optimizer_file": "boundary_4ff035f2f293441f8fcca85c81a3e356_optimizer.pt",
+  "arrays_sha256": "61bc7c72744292e79c34d804ebce5ebb6a6d63fbaa624be1b61e9714fb0af4ca",
+  "optimizer_sha256": "c7070cec3fd7aa28f971b2ebc901904081c7bc3ea96340c9f705195c2a688294",
+  "stage": "adam",
+  "completed_passes": 305,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51240,
+  "adam_update_count": 51240,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 306,
+    "consumed_count": 305,
+    "last_submitted_update": 51240,
+    "last_consumed_update": 51072,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51240,
+          "completed_passes": 305,
+          "next_interval": 0,
+          "trained_intervals": 51240,
+          "snapshot": "pass_end_0305",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 305,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51240,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51240,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002108103217324242,
+            "update_l2": 0.0705980435013771
+          },
+          "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": 3.7735095247626305e-05,
+            "update_l2": 0.003466710215434432
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1104998632539907,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23743,
+          "attachment": 120,
+          "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": 0.1104998632539907,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.035029176622629166,
+            "ssim_fused": 0.8914164900779724,
+            "seg_l1": 0.04878754913806915,
+            "seg_ssim_ref": 0.8914152979850769,
+            "depth": 0.012845473448311322,
+            "rgb_loss": 0.049740031361579895,
+            "seg_loss": 0.06074698269367218,
+            "total": 0.1104998632539907
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.053407251834869385,
+              "ssim_fused": 0.8730433583259583,
+              "seg_l1": 0.06481584161520004,
+              "seg_ssim_ref": 0.8730427026748657,
+              "depth": 0.020247058081976268,
+              "rgb_loss": 0.06811712682247162,
+              "seg_loss": 0.07724413275718689,
+              "total": 0.1453815066377405,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.020247058081976268,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014756834557670712
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.0401199609041214,
+              "ssim_fused": 0.8742561936378479,
+              "seg_l1": 0.06571562588214874,
+              "seg_ssim_ref": 0.874254584312439,
+              "depth": 0.01493619764843283,
+              "rgb_loss": 0.05724473297595978,
+              "seg_loss": 0.07772158086299896,
+              "total": 0.1349812500366072,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01493619764843283,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011841927900168941
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02633577398955822,
+              "ssim_fused": 0.9068334102630615,
+              "seg_l1": 0.0388919897377491,
+              "seg_ssim_ref": 0.9068321585655212,
+              "depth": 0.010313867948507216,
+              "rgb_loss": 0.03970193862915039,
+              "seg_loss": 0.04974716156721115,
+              "total": 0.08945941406431004,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010313867948507216,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00902585362559055
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.02025371417403221,
+              "ssim_fused": 0.9115331768989563,
+              "seg_l1": 0.025726746767759323,
+              "seg_ssim_ref": 0.9115316867828369,
+              "depth": 0.005884770114328972,
+              "rgb_loss": 0.03389633446931839,
+              "seg_loss": 0.038275063037872314,
+              "total": 0.07217728227730504,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005884770114328972,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005884770114328972
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 305,
+        "adam_update_count": 51240
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24184210412204266
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_4ff035f2f293441f8fcca85c81a3e356_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 306,
+  "next_interval": 0,
+  "next_adam_update": 51241,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 305,
+    "trained_intervals": 51240,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51240,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.828746318817139,
+      "median": 10.585955619812012,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.12116018682718277,
+      "median": 9.272151947021484,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010822139447554946,
+      "median": 39575.10546875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.8858920931816101,
+      "median": 10637.783203125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23743,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0306.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0306",
+  "executed_epochs": 306,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_9322e82ac14c40819ddc1769d8c4a3c4.npz",
+  "optimizer_file": "boundary_9322e82ac14c40819ddc1769d8c4a3c4_optimizer.pt",
+  "arrays_sha256": "8ec87553ea05803ff8eed9827a485e489b3767a8f43a7472d128ffad6bbb27f2",
+  "optimizer_sha256": "1cae6e75fa329b6f70b5e93996ca8a9ccbe5883f7e7c5cbd8c68311ff2a69392",
+  "stage": "adam",
+  "completed_passes": 306,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51408,
+  "adam_update_count": 51408,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 307,
+    "consumed_count": 306,
+    "last_submitted_update": 51408,
+    "last_consumed_update": 51240,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51408,
+          "completed_passes": 306,
+          "next_interval": 0,
+          "trained_intervals": 51408,
+          "snapshot": "pass_end_0306",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 306,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51408,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51408,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0008618691354058683,
+            "update_l2": 0.07529538869857788
+          },
+          "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": 3.0676546884933487e-05,
+            "update_l2": 0.0026228497736155987
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10669896951800292,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23757,
+          "attachment": 120,
+          "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": 0.10669896951800292,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03374291956424713,
+            "ssim_fused": 0.8935180306434631,
+            "seg_l1": 0.04637429118156433,
+            "seg_ssim_ref": 0.8935167789459229,
+            "depth": 0.012181838211470104,
+            "rgb_loss": 0.04829072207212448,
+            "seg_loss": 0.05839606374502182,
+            "total": 0.10669896951800292
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.0516359806060791,
+              "ssim_fused": 0.8754501342773438,
+              "seg_l1": 0.061215754598379135,
+              "seg_ssim_ref": 0.8754494786262512,
+              "depth": 0.019119658307804623,
+              "rgb_loss": 0.06621876358985901,
+              "seg_loss": 0.07388270646333694,
+              "total": 0.14012058226092317,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019119658307804623,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013629434783499067
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03863682597875595,
+              "ssim_fused": 0.8769357800483704,
+              "seg_l1": 0.06313400715589523,
+              "seg_ssim_ref": 0.876934289932251,
+              "depth": 0.014362463443210712,
+              "rgb_loss": 0.05552230775356293,
+              "seg_loss": 0.07512034475803375,
+              "total": 0.1306570149750399,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014362463443210712,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011268193694946823
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025336384773254395,
+              "ssim_fused": 0.9086917638778687,
+              "seg_l1": 0.03699565678834915,
+              "seg_ssim_ref": 0.9086905121803284,
+              "depth": 0.00972790295402778,
+              "rgb_loss": 0.038530755788087845,
+              "seg_loss": 0.04785842448472977,
+              "total": 0.08639891190106194,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.00972790295402778,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008439888631111114
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019362492486834526,
+              "ssim_fused": 0.9129946231842041,
+              "seg_l1": 0.024151746183633804,
+              "seg_ssim_ref": 0.9129930734634399,
+              "depth": 0.005517328140837295,
+              "rgb_loss": 0.03289106860756874,
+              "seg_loss": 0.036722782999277115,
+              "total": 0.06961936893498669,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005517328140837295,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005517328140837297
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 306,
+        "adam_update_count": 51408
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24450450506992638
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_9322e82ac14c40819ddc1769d8c4a3c4_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 307,
+  "next_interval": 0,
+  "next_adam_update": 51409,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 306,
+    "trained_intervals": 51408,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51408,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.840447425842285,
+      "median": 10.596502304077148,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.1462102085351944,
+      "median": 9.258810043334961,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001069624675437808,
+      "median": 39994.703125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.8639760613441467,
+      "median": 10496.869140625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23757,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0307.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0307",
+  "executed_epochs": 307,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_db9b845644d94806800b1b18315b4f66.npz",
+  "optimizer_file": "boundary_db9b845644d94806800b1b18315b4f66_optimizer.pt",
+  "arrays_sha256": "19f278ce02a836fa59e84bd0b761a89f5413789638ded3f02a72fe86fd7a12ac",
+  "optimizer_sha256": "b8996360f1936dccd3c91dbe365b2440fa7c17a04e5d08c039bb736b53c1522f",
+  "stage": "adam",
+  "completed_passes": 307,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51576,
+  "adam_update_count": 51576,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 308,
+    "consumed_count": 307,
+    "last_submitted_update": 51576,
+    "last_consumed_update": 51408,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51576,
+          "completed_passes": 307,
+          "next_interval": 0,
+          "trained_intervals": 51576,
+          "snapshot": "pass_end_0307",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 307,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51576,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51576,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00019576988415792584,
+            "update_l2": 0.06845589727163315
+          },
+          "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": 3.505585482344031e-05,
+            "update_l2": 0.0028180445078760386
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.11052183292598321,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23770,
+          "attachment": 120,
+          "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": 0.11052183292598321,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034946054220199585,
+            "ssim_fused": 0.8914467096328735,
+            "seg_l1": 0.04891296476125717,
+            "seg_ssim_ref": 0.891445517539978,
+            "depth": 0.01306503803327065,
+            "rgb_loss": 0.049667492508888245,
+            "seg_loss": 0.06084127351641655,
+            "total": 0.11052183292598321
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05265515297651291,
+              "ssim_fused": 0.8737044334411621,
+              "seg_l1": 0.06399115920066833,
+              "seg_ssim_ref": 0.8737037777900696,
+              "depth": 0.020196055367718343,
+              "rgb_loss": 0.06738323718309402,
+              "seg_loss": 0.07645217329263687,
+              "total": 0.1438556065310986,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.020196055367718343,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014705831843412792
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03941478207707405,
+              "ssim_fused": 0.8753305077552795,
+              "seg_l1": 0.06472943723201752,
+              "seg_ssim_ref": 0.8753289580345154,
+              "depth": 0.014742353808963153,
+              "rgb_loss": 0.05646572262048721,
+              "seg_loss": 0.07671775668859482,
+              "total": 0.133198221662891,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014742353808963153,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011648084060699266
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.027173951268196106,
+              "ssim_fused": 0.9059832692146301,
+              "seg_l1": 0.04062851890921593,
+              "seg_ssim_ref": 0.9059819579124451,
+              "depth": 0.011222773155980848,
+              "rgb_loss": 0.04054250568151474,
+              "seg_loss": 0.05130642652511597,
+              "total": 0.09186015497978668,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.011222773155980848,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.009934758833064182
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.020540328696370125,
+              "ssim_fused": 0.9107687473297119,
+              "seg_l1": 0.026302743703126907,
+              "seg_ssim_ref": 0.9107673168182373,
+              "depth": 0.0060989698004202605,
+              "rgb_loss": 0.0342785120010376,
+              "seg_loss": 0.038888733834028244,
+              "total": 0.07317334853015656,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0060989698004202605,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.00609896980042026
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 307,
+        "adam_update_count": 51576
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24232758092693985
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_db9b845644d94806800b1b18315b4f66_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 308,
+  "next_interval": 0,
+  "next_adam_update": 51577,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 307,
+    "trained_intervals": 51576,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51576,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.847988128662109,
+      "median": 10.607871055603027,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.1669764667749405,
+      "median": 9.25302505493164,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010615893406793475,
+      "median": 40451.98828125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.846219539642334,
+      "median": 10436.1962890625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23770,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0308.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0308",
+  "executed_epochs": 308,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_1d18a05ce1b345ae8879ec3f69526b61.npz",
+  "optimizer_file": "boundary_1d18a05ce1b345ae8879ec3f69526b61_optimizer.pt",
+  "arrays_sha256": "6feede1c384ccef3445f3015445c4940d5f9edf711640af13d7262b07cbb75b6",
+  "optimizer_sha256": "6b6f175966e1558d85a16d2e00b19974bc663d08a6ad2cbad75e2cadde0c31db",
+  "stage": "adam",
+  "completed_passes": 308,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51744,
+  "adam_update_count": 51744,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 309,
+    "consumed_count": 308,
+    "last_submitted_update": 51744,
+    "last_consumed_update": 51576,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51744,
+          "completed_passes": 308,
+          "next_interval": 0,
+          "trained_intervals": 51744,
+          "snapshot": "pass_end_0308",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 308,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51744,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51744,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020669991499744356,
+            "update_l2": 0.059845514595508575
+          },
+          "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": 2.8771730285370722e-05,
+            "update_l2": 0.0024873020593076944
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10686656338321132,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23782,
+          "attachment": 120,
+          "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": 0.10686656338321132,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033801671117544174,
+            "ssim_fused": 0.8935096263885498,
+            "seg_l1": 0.04652068018913269,
+            "seg_ssim_ref": 0.8935083150863647,
+            "depth": 0.0122624372140919,
+            "rgb_loss": 0.048339422792196274,
+            "seg_loss": 0.05851488187909126,
+            "total": 0.10686656338321132
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.051606517285108566,
+              "ssim_fused": 0.8754873871803284,
+              "seg_l1": 0.06127243861556053,
+              "seg_ssim_ref": 0.8754866719245911,
+              "depth": 0.01923197430189492,
+              "rgb_loss": 0.06618773937225342,
+              "seg_loss": 0.07392061501741409,
+              "total": 0.1401275789133888,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01923197430189492,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013741750777589365
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03871406987309456,
+              "ssim_fused": 0.8766669631004333,
+              "seg_l1": 0.06331663578748703,
+              "seg_ssim_ref": 0.8766654133796692,
+              "depth": 0.014454149514264946,
+              "rgb_loss": 0.055637866258621216,
+              "seg_loss": 0.07532022893428802,
+              "total": 0.1309725493424235,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014454149514264946,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011359879766001058
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025391532108187675,
+              "ssim_fused": 0.9088740348815918,
+              "seg_l1": 0.037085097283124924,
+              "seg_ssim_ref": 0.9088727235794067,
+              "depth": 0.009735007481480845,
+              "rgb_loss": 0.03853841871023178,
+              "seg_loss": 0.04789353162050247,
+              "total": 0.08644168533821574,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009735007481480845,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008446993158564179
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019494568929076195,
+              "ssim_fused": 0.9130100011825562,
+              "seg_l1": 0.024408554658293724,
+              "seg_ssim_ref": 0.913008451461792,
+              "depth": 0.005628617558726886,
+              "rgb_loss": 0.032993655651807785,
+              "seg_loss": 0.03692515566945076,
+              "total": 0.06992443993881726,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005628617558726886,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005628617558726885
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 308,
+        "adam_update_count": 51744
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24830044200643897
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_1d18a05ce1b345ae8879ec3f69526b61_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 309,
+  "next_interval": 0,
+  "next_adam_update": 51745,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 308,
+    "trained_intervals": 51744,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51744,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.858911037445068,
+      "median": 10.61294937133789,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.19130954146385193,
+      "median": 9.26382827758789,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.001050056773237884,
+      "median": 40657.9375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.8258769512176514,
+      "median": 10549.447265625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23783,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0309.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0309",
+  "executed_epochs": 309,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_d04830010f1045d59a9be39270d90355.npz",
+  "optimizer_file": "boundary_d04830010f1045d59a9be39270d90355_optimizer.pt",
+  "arrays_sha256": "e798360bcbf47f2c792fe2368e01a1edfe0003849a13c98b1925e44252f9ea2d",
+  "optimizer_sha256": "da288574467a1aa945f635b38abef3f05d4e1263bd36ba80c9bb468d7d6d5844",
+  "stage": "adam",
+  "completed_passes": 309,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 51912,
+  "adam_update_count": 51912,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 310,
+    "consumed_count": 309,
+    "last_submitted_update": 51912,
+    "last_consumed_update": 51744,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 51912,
+          "completed_passes": 309,
+          "next_interval": 0,
+          "trained_intervals": 51912,
+          "snapshot": "pass_end_0309",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 309,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 51912,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 51912,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00016201140533667058,
+            "update_l2": 0.06783894449472427
+          },
+          "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": 3.1555107852909714e-05,
+            "update_l2": 0.003085966454818845
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10702701173653048,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23799,
+          "attachment": 120,
+          "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": 0.10702701173653048,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03388705849647522,
+            "ssim_fused": 0.8934228420257568,
+            "seg_l1": 0.046592503786087036,
+            "seg_ssim_ref": 0.8934215903282166,
+            "depth": 0.012236460346389828,
+            "rgb_loss": 0.048425089567899704,
+            "seg_loss": 0.05858968570828438,
+            "total": 0.10702701173653048
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05187011882662773,
+              "ssim_fused": 0.8749728798866272,
+              "seg_l1": 0.06162233278155327,
+              "seg_ssim_ref": 0.8749723434448242,
+              "depth": 0.019273848781104382,
+              "rgb_loss": 0.06650152057409286,
+              "seg_loss": 0.07430339604616165,
+              "total": 0.14082419046903563,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019273848781104382,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013783625256798824
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03879665955901146,
+              "ssim_fused": 0.8765125870704651,
+              "seg_l1": 0.06331121176481247,
+              "seg_ssim_ref": 0.8765111565589905,
+              "depth": 0.014416048831862345,
+              "rgb_loss": 0.05573481321334839,
+              "seg_loss": 0.07534673810005188,
+              "total": 0.13109596736223214,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014416048831862345,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011321779083598459
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025462158024311066,
+              "ssim_fused": 0.9089124202728271,
+              "seg_l1": 0.03720695525407791,
+              "seg_ssim_ref": 0.9089111089706421,
+              "depth": 0.0097365986006456,
+              "rgb_loss": 0.03858724236488342,
+              "seg_loss": 0.04798334091901779,
+              "total": 0.08658031988250187,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.0097365986006456,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008448584277728934
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019419299438595772,
+              "ssim_fused": 0.9132933020591736,
+              "seg_l1": 0.02422952838242054,
+              "seg_ssim_ref": 0.9132917523384094,
+              "depth": 0.005519345171946979,
+              "rgb_loss": 0.03287677839398384,
+              "seg_loss": 0.03672527149319649,
+              "total": 0.06960756923235227,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005519345171946979,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005519345171946979
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 309,
+        "adam_update_count": 51912
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25097225699573755
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_d04830010f1045d59a9be39270d90355_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 310,
+  "next_interval": 0,
+  "next_adam_update": 51913,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 309,
+    "trained_intervals": 51912,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 51912,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.873084545135498,
+      "median": 10.620070457458496,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.21821704506874084,
+      "median": 9.261762619018555,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010352787794545293,
+      "median": 40948.5,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.8039509654045105,
+      "median": 10527.75390625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23799,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0310.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0310",
+  "executed_epochs": 310,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_23692eb9020d457bbe17d80a82cb1b5f.npz",
+  "optimizer_file": "boundary_23692eb9020d457bbe17d80a82cb1b5f_optimizer.pt",
+  "arrays_sha256": "3c8173a103f8c780c5a3ffdb20d6f9f115f69807088e4c1ce70cc170b4ad7a58",
+  "optimizer_sha256": "67eb16216bbd316ce21bed99562a12a6b1c3e5d048d3808039b7b9d2726b5302",
+  "stage": "adam",
+  "completed_passes": 310,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52080,
+  "adam_update_count": 52080,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 311,
+    "consumed_count": 310,
+    "last_submitted_update": 52080,
+    "last_consumed_update": 51912,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52080,
+          "completed_passes": 310,
+          "next_interval": 0,
+          "trained_intervals": 52080,
+          "snapshot": "pass_end_0310",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 310,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52080,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52080,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00017550040502101183,
+            "update_l2": 0.07738829404115677
+          },
+          "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": 3.196020043105818e-05,
+            "update_l2": 0.0036443963181227446
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1082580276069385,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23817,
+          "attachment": 120,
+          "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": 0.1082580276069385,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03427979350090027,
+            "ssim_fused": 0.8925310373306274,
+            "seg_l1": 0.04729219153523445,
+            "seg_ssim_ref": 0.8925297260284424,
+            "depth": 0.012598955367227188,
+            "rgb_loss": 0.04891762509942055,
+            "seg_loss": 0.059327803552150726,
+            "total": 0.1082580276069385
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052592966705560684,
+              "ssim_fused": 0.8734866976737976,
+              "seg_l1": 0.0628477931022644,
+              "seg_ssim_ref": 0.8734859824180603,
+              "depth": 0.019766313023838317,
+              "rgb_loss": 0.06737703830003738,
+              "seg_loss": 0.07558103650808334,
+              "total": 0.14297784112114456,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019766313023838317,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014276089499532763
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03900144249200821,
+              "ssim_fused": 0.8760405778884888,
+              "seg_l1": 0.06358925253152847,
+              "seg_ssim_ref": 0.8760389685630798,
+              "depth": 0.014597716393750163,
+              "rgb_loss": 0.05599303916096687,
+              "seg_loss": 0.07566361129283905,
+              "total": 0.13167124444490938,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014597716393750163,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011503446645486274
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02589944377541542,
+              "ssim_fused": 0.9075978398323059,
+              "seg_l1": 0.038050200790166855,
+              "seg_ssim_ref": 0.9075964689254761,
+              "depth": 0.010384975656399295,
+              "rgb_loss": 0.039199989289045334,
+              "seg_loss": 0.04892086982727051,
+              "total": 0.08813124781726255,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010384975656399295,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00909696133348263
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019625315442681313,
+              "ssim_fused": 0.912999153137207,
+              "seg_l1": 0.02468152903020382,
+              "seg_ssim_ref": 0.9129976034164429,
+              "depth": 0.005646816394920978,
+              "rgb_loss": 0.033100422471761703,
+              "seg_loss": 0.0371457040309906,
+              "total": 0.07025177704443752,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005646816394920978,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005646816394920978
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 310,
+        "adam_update_count": 52080
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24471973697654903
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_23692eb9020d457bbe17d80a82cb1b5f_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 311,
+  "next_interval": 0,
+  "next_adam_update": 52081,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 310,
+    "trained_intervals": 52080,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52080,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.886999130249023,
+      "median": 10.629984855651855,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.23992076516151428,
+      "median": 9.28055191040039,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010209730826318264,
+      "median": 41356.5,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.7866902351379395,
+      "median": 10727.3740234375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23817,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0311.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0311",
+  "executed_epochs": 311,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_232297918183407bbdd798276fa7528c.npz",
+  "optimizer_file": "boundary_232297918183407bbdd798276fa7528c_optimizer.pt",
+  "arrays_sha256": "cbf0ee2a802b6dac0b9b1074cf46ba5c447be5240ded033fa9d8d7928b00f72a",
+  "optimizer_sha256": "9ec8c438c4d47c3bfd3d3b53924ab62fce0ce26ae34d44133de9a0940eacf92d",
+  "stage": "adam",
+  "completed_passes": 311,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52248,
+  "adam_update_count": 52248,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 312,
+    "consumed_count": 311,
+    "last_submitted_update": 52248,
+    "last_consumed_update": 52080,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52248,
+          "completed_passes": 311,
+          "next_interval": 0,
+          "trained_intervals": 52248,
+          "snapshot": "pass_end_0311",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 311,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52248,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52248,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00020598240371327847,
+            "update_l2": 0.0667504072189331
+          },
+          "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": 3.483708860585466e-05,
+            "update_l2": 0.003877902403473854
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10812317877000675,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23832,
+          "attachment": 120,
+          "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": 0.10812317877000675,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03434489294886589,
+            "ssim_fused": 0.8930461406707764,
+            "seg_l1": 0.04731614887714386,
+            "seg_ssim_ref": 0.8930449485778809,
+            "depth": 0.012573962272272168,
+            "rgb_loss": 0.048866674304008484,
+            "seg_loss": 0.059243932366371155,
+            "total": 0.10812317877000675
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05292513966560364,
+              "ssim_fused": 0.8735440373420715,
+              "seg_l1": 0.06322026997804642,
+              "seg_ssim_ref": 0.8735435009002686,
+              "depth": 0.01966728270542769,
+              "rgb_loss": 0.0676313042640686,
+              "seg_loss": 0.07586751878261566,
+              "total": 0.14351849032938968,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01966728270542769,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014177059181122135
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.0390419103205204,
+              "ssim_fused": 0.8760833740234375,
+              "seg_l1": 0.06342165917158127,
+              "seg_ssim_ref": 0.8760818243026733,
+              "depth": 0.014549540242534131,
+              "rgb_loss": 0.05601685494184494,
+              "seg_loss": 0.07552096247673035,
+              "total": 0.13155237440939843,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014549540242534131,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011455270494270243
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025713656097650528,
+              "ssim_fused": 0.9093092679977417,
+              "seg_l1": 0.037772037088871,
+              "seg_ssim_ref": 0.9093078970909119,
+              "depth": 0.010304547166010468,
+              "rgb_loss": 0.03870907053351402,
+              "seg_loss": 0.04835605248808861,
+              "total": 0.08707542756876864,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010304547166010468,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.0090165328430938
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01969887502491474,
+              "ssim_fused": 0.9132481813430786,
+              "seg_l1": 0.024850640445947647,
+              "seg_ssim_ref": 0.9132466316223145,
+              "depth": 0.0057744789751163796,
+              "rgb_loss": 0.03310946375131607,
+              "seg_loss": 0.03723118454217911,
+              "total": 0.07034642277247029,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0057744789751163796,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0057744789751163796
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 311,
+        "adam_update_count": 52248
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24359617312438786
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_232297918183407bbdd798276fa7528c_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 312,
+  "next_interval": 0,
+  "next_adam_update": 52249,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 311,
+    "trained_intervals": 52248,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52248,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.902044773101807,
+      "median": 10.631124496459961,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.26566624641418457,
+      "median": 9.27188777923584,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0010057268664240837,
+      "median": 41403.65625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.7666950225830078,
+      "median": 10634.8408203125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23832,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0312.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0312",
+  "executed_epochs": 312,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_b273d149c4194647b2dae328de777a3f.npz",
+  "optimizer_file": "boundary_b273d149c4194647b2dae328de777a3f_optimizer.pt",
+  "arrays_sha256": "1d3ec3575c58c1d682b4051fb6abc32429f58751d05be322f9a6e5a0d0abc321",
+  "optimizer_sha256": "7774da41608044e15c9155b626fed092f5a8766d4dc2306d6bc69b3131e37507",
+  "stage": "adam",
+  "completed_passes": 312,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52416,
+  "adam_update_count": 52416,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 313,
+    "consumed_count": 312,
+    "last_submitted_update": 52416,
+    "last_consumed_update": 52248,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52416,
+          "completed_passes": 312,
+          "next_interval": 0,
+          "trained_intervals": 52416,
+          "snapshot": "pass_end_0312",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 312,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52416,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52416,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002420856908429414,
+            "update_l2": 0.07195713371038437
+          },
+          "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": 3.3888387406477705e-05,
+            "update_l2": 0.0034713551867753267
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.107251679181369,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23846,
+          "attachment": 120,
+          "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": 0.107251679181369,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.034022435545921326,
+            "ssim_fused": 0.8935030102729797,
+            "seg_l1": 0.0467778779566288,
+            "seg_ssim_ref": 0.893501877784729,
+            "depth": 0.012406735928707155,
+            "rgb_loss": 0.04851733520627022,
+            "seg_loss": 0.058721937239170074,
+            "total": 0.107251679181369
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052768170833587646,
+              "ssim_fused": 0.8737333416938782,
+              "seg_l1": 0.06294254213571548,
+              "seg_ssim_ref": 0.8737328052520752,
+              "depth": 0.019630392313798914,
+              "rgb_loss": 0.06746786832809448,
+              "seg_loss": 0.07560747116804123,
+              "total": 0.1430949773390301,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019630392313798914,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01414016878949336
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038960348814725876,
+              "ssim_fused": 0.8762068748474121,
+              "seg_l1": 0.06336529552936554,
+              "seg_ssim_ref": 0.876205325126648,
+              "depth": 0.01454235967597614,
+              "rgb_loss": 0.05592690408229828,
+              "seg_loss": 0.07545117288827896,
+              "total": 0.13139262678083383,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01454235967597614,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01144808992771225
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025069665163755417,
+              "ssim_fused": 0.9106221795082092,
+              "seg_l1": 0.03669407218694687,
+              "seg_ssim_ref": 0.910620927810669,
+              "depth": 0.00989267948504951,
+              "rgb_loss": 0.03793129697442055,
+              "seg_loss": 0.04723107069730759,
+              "total": 0.08517226407650348,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.00989267948504951,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008604665162132846
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01929154433310032,
+              "ssim_fused": 0.9134498238563538,
+              "seg_l1": 0.02410958893597126,
+              "seg_ssim_ref": 0.9134482741355896,
+              "depth": 0.005561512240004054,
+              "rgb_loss": 0.03274327144026756,
+              "seg_loss": 0.03659801930189133,
+              "total": 0.06934684852910859,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005561512240004054,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005561512240004053
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 312,
+        "adam_update_count": 52416
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2419726848602295
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_b273d149c4194647b2dae328de777a3f_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 313,
+  "next_interval": 0,
+  "next_adam_update": 52417,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 312,
+    "trained_intervals": 52416,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52416,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.909240245819092,
+      "median": 10.636008262634277,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.2913045287132263,
+      "median": 9.29252815246582,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009985161013901234,
+      "median": 41606.35546875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.7472880482673645,
+      "median": 10856.67578125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23846,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0313.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0313",
+  "executed_epochs": 313,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_583cec51967548d3935a2138d54f3267.npz",
+  "optimizer_file": "boundary_583cec51967548d3935a2138d54f3267_optimizer.pt",
+  "arrays_sha256": "5ea2758de445396eec1dbbf2605df1a26b14ef56ef214187518ddcd5b49b013f",
+  "optimizer_sha256": "7e5c58f8b173d107acfaa8c131563ceda2a026386753d67134ec389c08f69d20",
+  "stage": "adam",
+  "completed_passes": 313,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52584,
+  "adam_update_count": 52584,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 314,
+    "consumed_count": 313,
+    "last_submitted_update": 52584,
+    "last_consumed_update": 52416,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52584,
+          "completed_passes": 313,
+          "next_interval": 0,
+          "trained_intervals": 52584,
+          "snapshot": "pass_end_0313",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 313,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52584,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52584,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002976087562274188,
+            "update_l2": 0.06006510183215141
+          },
+          "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": 3.0393463021027856e-05,
+            "update_l2": 0.0025329410564154387
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10631085327030886,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23861,
+          "attachment": 120,
+          "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": 0.10631085327030886,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03361045941710472,
+            "ssim_fused": 0.8938355445861816,
+            "seg_l1": 0.046180449426174164,
+            "seg_ssim_ref": 0.8938342928886414,
+            "depth": 0.012078789489145274,
+            "rgb_loss": 0.048121266067028046,
+            "seg_loss": 0.058177508413791656,
+            "total": 0.10631085327030886
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05152558907866478,
+              "ssim_fused": 0.8757019639015198,
+              "seg_l1": 0.06120246276259422,
+              "seg_ssim_ref": 0.8757013082504272,
+              "depth": 0.01904767101089056,
+              "rgb_loss": 0.06608007848262787,
+              "seg_loss": 0.07382170855998993,
+              "total": 0.13992083471362868,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01904767101089056,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013557447486585007
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038701511919498444,
+              "ssim_fused": 0.8766107559204102,
+              "seg_l1": 0.06324024498462677,
+              "seg_ssim_ref": 0.8766091465950012,
+              "depth": 0.014320337039978865,
+              "rgb_loss": 0.055639058351516724,
+              "seg_loss": 0.07527036964893341,
+              "total": 0.13092374833749013,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014320337039978865,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011226067291714976
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02504361793398857,
+              "ssim_fused": 0.9094628691673279,
+              "seg_l1": 0.03645625337958336,
+              "seg_ssim_ref": 0.9094616174697876,
+              "depth": 0.009497143204609036,
+              "rgb_loss": 0.03814232349395752,
+              "seg_loss": 0.047272682189941406,
+              "total": 0.08542450282710354,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009497143204609036,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008209128881692368
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01917112059891224,
+              "ssim_fused": 0.9135664701461792,
+              "seg_l1": 0.023822836577892303,
+              "seg_ssim_ref": 0.9135649800300598,
+              "depth": 0.005450006701102636,
+              "rgb_loss": 0.03262360394001007,
+              "seg_loss": 0.03634527325630188,
+              "total": 0.06897432720301305,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005450006701102636,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0054500067011026354
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 313,
+        "adam_update_count": 52584
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2420791641343385
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_583cec51967548d3935a2138d54f3267_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 314,
+  "next_interval": 0,
+  "next_adam_update": 52585,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 313,
+    "trained_intervals": 52584,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52584,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.918015956878662,
+      "median": 10.643442153930664,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.3186323940753937,
+      "median": 9.278066635131836,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009897917043417692,
+      "median": 41916.80859375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.7271428108215332,
+      "median": 10701.4833984375,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23861,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0314.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0314",
+  "executed_epochs": 314,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_563c90e8e2784d3ebf7a06ff8ec34c72.npz",
+  "optimizer_file": "boundary_563c90e8e2784d3ebf7a06ff8ec34c72_optimizer.pt",
+  "arrays_sha256": "46ec68e5b20a9eeae02fa4235e748e30e97ea8dc617350df9558fddd23df6411",
+  "optimizer_sha256": "fdf76b69f990574c8583a97724f73c55d463dcd8cf034949fc91aecde17dde4f",
+  "stage": "adam",
+  "completed_passes": 314,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52752,
+  "adam_update_count": 52752,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 315,
+    "consumed_count": 314,
+    "last_submitted_update": 52752,
+    "last_consumed_update": 52584,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52752,
+          "completed_passes": 314,
+          "next_interval": 0,
+          "trained_intervals": 52752,
+          "snapshot": "pass_end_0314",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 314,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52752,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52752,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00018363987328484654,
+            "update_l2": 0.05534961819648743
+          },
+          "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": 3.088520315941423e-05,
+            "update_l2": 0.0029844155069440603
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1067536955999331,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23874,
+          "attachment": 120,
+          "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": 0.1067536955999331,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033800605684518814,
+            "ssim_fused": 0.8936938047409058,
+            "seg_l1": 0.0464726947247982,
+            "seg_ssim_ref": 0.8936925530433655,
+            "depth": 0.012321241398285167,
+            "rgb_loss": 0.04830172657966614,
+            "seg_loss": 0.058439645916223526,
+            "total": 0.1067536955999331
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05218464508652687,
+              "ssim_fused": 0.8743051886558533,
+              "seg_l1": 0.06221853569149971,
+              "seg_ssim_ref": 0.8743046522140503,
+              "depth": 0.019476211238993693,
+              "rgb_loss": 0.06688667833805084,
+              "seg_loss": 0.07491389662027359,
+              "total": 0.14182005862014402,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019476211238993693,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01398598771468814
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038690004497766495,
+              "ssim_fused": 0.8766878247261047,
+              "seg_l1": 0.06295054405927658,
+              "seg_ssim_ref": 0.8766862154006958,
+              "depth": 0.01437304495071268,
+              "rgb_loss": 0.05561444163322449,
+              "seg_loss": 0.07502319663763046,
+              "total": 0.13065201876638627,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01437304495071268,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01127877520244879
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02525019273161888,
+              "ssim_fused": 0.9096786379814148,
+              "seg_l1": 0.03702656179666519,
+              "seg_ssim_ref": 0.909677267074585,
+              "depth": 0.009948003969817269,
+              "rgb_loss": 0.038264427334070206,
+              "seg_loss": 0.04768579453229904,
+              "total": 0.08596017359562937,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009948003969817269,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008659989646900599
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019077584147453308,
+              "ssim_fused": 0.9141035676002502,
+              "seg_l1": 0.02369513176381588,
+              "seg_ssim_ref": 0.9141020774841309,
+              "depth": 0.005487705433617036,
+              "rgb_loss": 0.03244135528802872,
+              "seg_loss": 0.03613568842411041,
+              "total": 0.06858253141757274,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005487705433617036,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005487705433617036
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 314,
+        "adam_update_count": 52752
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2435121110174805
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_563c90e8e2784d3ebf7a06ff8ec34c72_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 315,
+  "next_interval": 0,
+  "next_adam_update": 52753,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 314,
+    "trained_intervals": 52752,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52752,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.931277751922607,
+      "median": 10.650856971740723,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.34764477610588074,
+      "median": 9.271814346313477,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009767520241439342,
+      "median": 42228.76953125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.7063497304916382,
+      "median": 10635.2001953125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23874,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0315.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0315",
+  "executed_epochs": 315,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_8d965ecddb8e4b3e81492a801b81f75a.npz",
+  "optimizer_file": "boundary_8d965ecddb8e4b3e81492a801b81f75a_optimizer.pt",
+  "arrays_sha256": "d079a6edb6b752d612f134b3dd89faebb966344e3a361ef76018e52a782eb885",
+  "optimizer_sha256": "6779225a3c8ba51925efcec928d3c0673b066f058e1abd8ce9d92c9b0345e61c",
+  "stage": "adam",
+  "completed_passes": 315,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 52920,
+  "adam_update_count": 52920,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 316,
+    "consumed_count": 315,
+    "last_submitted_update": 52920,
+    "last_consumed_update": 52752,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 52920,
+          "completed_passes": 315,
+          "next_interval": 0,
+          "trained_intervals": 52920,
+          "snapshot": "pass_end_0315",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 315,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 52920,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 52920,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00016390546807087958,
+            "update_l2": 0.06443198770284653
+          },
+          "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": 3.458041464909911e-05,
+            "update_l2": 0.0037989949341863394
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10703005971278551,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23885,
+          "attachment": 120,
+          "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": 0.10703005971278551,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0339205376803875,
+            "ssim_fused": 0.8937195539474487,
+            "seg_l1": 0.04671097174286842,
+            "seg_ssim_ref": 0.8937183022499084,
+            "depth": 0.012430864232823628,
+            "rgb_loss": 0.04839251562952995,
+            "seg_loss": 0.05862511321902275,
+            "total": 0.10703005971278551
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05248198285698891,
+              "ssim_fused": 0.8743491172790527,
+              "seg_l1": 0.06275846064090729,
+              "seg_ssim_ref": 0.874348521232605,
+              "depth": 0.019643824224657797,
+              "rgb_loss": 0.06711576133966446,
+              "seg_loss": 0.07533706724643707,
+              "total": 0.14247247986090678,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019643824224657797,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014153600700352237
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.038697417825460434,
+              "ssim_fused": 0.8771393895149231,
+              "seg_l1": 0.063044972717762,
+              "seg_ssim_ref": 0.8771377801895142,
+              "depth": 0.01450783284194483,
+              "rgb_loss": 0.05553005635738373,
+              "seg_loss": 0.07500842213630676,
+              "total": 0.13055298632653242,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01450783284194483,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01141356309368094
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02527310885488987,
+              "ssim_fused": 0.9094399213790894,
+              "seg_l1": 0.037061404436826706,
+              "seg_ssim_ref": 0.9094386696815491,
+              "depth": 0.009964262494574196,
+              "rgb_loss": 0.038330502808094025,
+              "seg_loss": 0.04776138812303543,
+              "total": 0.08610185519362402,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009964262494574196,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00867624817165753
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019229643046855927,
+              "ssim_fused": 0.9139498472213745,
+              "seg_l1": 0.02397904358804226,
+              "seg_ssim_ref": 0.9139483571052551,
+              "depth": 0.005607537370117692,
+              "rgb_loss": 0.0325937457382679,
+              "seg_loss": 0.03639356419444084,
+              "total": 0.06899291747007885,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005607537370117692,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005607537370117692
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 315,
+        "adam_update_count": 52920
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24870579899288714
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_8d965ecddb8e4b3e81492a801b81f75a_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 316,
+  "next_interval": 0,
+  "next_adam_update": 52921,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 315,
+    "trained_intervals": 52920,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 52920,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.9434685707092285,
+      "median": 10.656249046325684,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.37033671140670776,
+      "median": 9.272212028503418,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009649169514887035,
+      "median": 42457.0859375,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.6905018091201782,
+      "median": 10640.45703125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23885,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0316.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0316",
+  "executed_epochs": 316,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_dd72a8fe3dc64bda910f55546796ba3f.npz",
+  "optimizer_file": "boundary_dd72a8fe3dc64bda910f55546796ba3f_optimizer.pt",
+  "arrays_sha256": "aacc2f551fc397070e4883c96bc1bf36ed666b59510c1a486847e4fca36bfcfd",
+  "optimizer_sha256": "750ddafa7be4a117cd00b4c4def744472aac7794381914da225019fa33964fbc",
+  "stage": "adam",
+  "completed_passes": 316,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53088,
+  "adam_update_count": 53088,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 317,
+    "consumed_count": 316,
+    "last_submitted_update": 53088,
+    "last_consumed_update": 52920,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53088,
+          "completed_passes": 316,
+          "next_interval": 0,
+          "trained_intervals": 53088,
+          "snapshot": "pass_end_0316",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 316,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53088,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53088,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00018062455637846142,
+            "update_l2": 0.07237757742404938
+          },
+          "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": 3.210971044609323e-05,
+            "update_l2": 0.0038263481110334396
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10722498541215122,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23903,
+          "attachment": 120,
+          "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": 0.10722498541215122,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033937688916921616,
+            "ssim_fused": 0.8935328722000122,
+            "seg_l1": 0.04684412479400635,
+            "seg_ssim_ref": 0.8935316801071167,
+            "depth": 0.01242516079605444,
+            "rgb_loss": 0.04844358190894127,
+            "seg_loss": 0.058768972754478455,
+            "total": 0.10722498541215122
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052045825868844986,
+              "ssim_fused": 0.875001072883606,
+              "seg_l1": 0.062296438962221146,
+              "seg_ssim_ref": 0.875000536441803,
+              "depth": 0.019536674378731213,
+              "rgb_loss": 0.06663644313812256,
+              "seg_loss": 0.07483704388141632,
+              "total": 0.1414930236939176,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019536674378731213,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.014046450854425654
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.0386577732861042,
+              "ssim_fused": 0.8767171502113342,
+              "seg_l1": 0.06304320693016052,
+              "seg_ssim_ref": 0.8767156004905701,
+              "depth": 0.014338089843725064,
+              "rgb_loss": 0.055582787841558456,
+              "seg_loss": 0.07509145140647888,
+              "total": 0.13068858106317136,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014338089843725064,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011243820095461175
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025729307904839516,
+              "ssim_fused": 0.908252477645874,
+              "seg_l1": 0.037880491465330124,
+              "seg_ssim_ref": 0.908251166343689,
+              "depth": 0.010230960009990311,
+              "rgb_loss": 0.03893294930458069,
+              "seg_loss": 0.048654161393642426,
+              "total": 0.0875973416582331,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010230960009990311,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008942945687073644
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019317852333188057,
+              "ssim_fused": 0.9141606688499451,
+              "seg_l1": 0.024156367406249046,
+              "seg_ssim_ref": 0.9141592383384705,
+              "depth": 0.0055949189517711705,
+              "rgb_loss": 0.03262214735150337,
+              "seg_loss": 0.036493249237537384,
+              "total": 0.06912099523328283,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0055949189517711705,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0055949189517711705
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 316,
+        "adam_update_count": 53088
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25773543305695057
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_dd72a8fe3dc64bda910f55546796ba3f_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 317,
+  "next_interval": 0,
+  "next_adam_update": 53089,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 316,
+    "trained_intervals": 53088,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53088,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.95574951171875,
+      "median": 10.669977188110352,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.3928011357784271,
+      "median": 9.261258125305176,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009531392715871334,
+      "median": 43043.95703125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.6751630306243896,
+      "median": 10524.98828125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23903,
+    "controller_edge_stiffness": 120
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0317.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0317",
+  "executed_epochs": 317,
+  "score": null,
+  "best_score": 0.08860945645371056,
+  "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_d0bc88a1a0bc462c91c77f77e58ed9c1.npz",
+  "optimizer_file": "boundary_d0bc88a1a0bc462c91c77f77e58ed9c1_optimizer.pt",
+  "arrays_sha256": "6dd7910fc77d4f41618f2ea8afa3ed0cd095b5c0ca4318e04dd9cfa996f705a9",
+  "optimizer_sha256": "0a8fec67a8df4879a02a2e7173989d35a042b96b5c86851b5ff8bb4c18950f72",
+  "stage": "adam",
+  "completed_passes": 317,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53256,
+  "adam_update_count": 53256,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 318,
+    "consumed_count": 317,
+    "last_submitted_update": 53256,
+    "last_consumed_update": 53088,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53256,
+          "completed_passes": 317,
+          "next_interval": 0,
+          "trained_intervals": 53256,
+          "snapshot": "pass_end_0317",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 50400,
+  "pass_science": {
+    "completed_passes": 317,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53256,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53256,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0002309690898982808,
+            "update_l2": 0.06019498035311699
+          },
+          "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": 2.8700742404907942e-05,
+            "update_l2": 0.0032379175536334515
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10671425564990994,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23915,
+          "attachment": 121,
+          "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": 0.10671425564990994,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03377346694469452,
+            "ssim_fused": 0.89369136095047,
+            "seg_l1": 0.04644934833049774,
+            "seg_ssim_ref": 0.8936900496482849,
+            "depth": 0.012287412152262438,
+            "rgb_loss": 0.048280492424964905,
+            "seg_loss": 0.05842147022485733,
+            "total": 0.10671425564990994
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.051957666873931885,
+              "ssim_fused": 0.8748698830604553,
+              "seg_l1": 0.061886273324489594,
+              "seg_ssim_ref": 0.874869167804718,
+              "depth": 0.01942352720287098,
+              "rgb_loss": 0.06659215688705444,
+              "seg_loss": 0.07453518360853195,
+              "total": 0.14114677147336988,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01942352720287098,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013933303678565427
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03853380307555199,
+              "ssim_fused": 0.8767809867858887,
+              "seg_l1": 0.06274700164794922,
+              "seg_ssim_ref": 0.876779317855835,
+              "depth": 0.014271463561247932,
+              "rgb_loss": 0.055470846593379974,
+              "seg_loss": 0.07484173774719238,
+              "total": 0.1303268632547142,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014271463561247932,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011177193812984043
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02538427896797657,
+              "ssim_fused": 0.9090429544448853,
+              "seg_l1": 0.03720967844128609,
+              "seg_ssim_ref": 0.9090415835380554,
+              "depth": 0.009959001197413697,
+              "rgb_loss": 0.038498833775520325,
+              "seg_loss": 0.047959424555301666,
+              "total": 0.0864682173320194,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009959001197413697,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00867098687449703
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019218113273382187,
+              "ssim_fused": 0.9140717387199402,
+              "seg_l1": 0.02395443059504032,
+              "seg_ssim_ref": 0.9140700697898865,
+              "depth": 0.0054956566475171395,
+              "rgb_loss": 0.03256014361977577,
+              "seg_loss": 0.03634953126311302,
+              "total": 0.06891517053953632,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.0054956566475171395,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.0054956566475171395
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 317,
+        "adam_update_count": 53256
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24431852297857404
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_d0bc88a1a0bc462c91c77f77e58ed9c1_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 318,
+  "next_interval": 0,
+  "next_adam_update": 53257,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 317,
+    "trained_intervals": 53256,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53256,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.967195987701416,
+      "median": 10.671700477600098,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.4159466028213501,
+      "median": 9.267114639282227,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.000942291459068656,
+      "median": 43118.203125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.659715473651886,
+      "median": 10586.87890625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23915,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0318.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0318",
+  "executed_epochs": 318,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_21fc8719ac9d4f4786fdc0941bd57825.npz",
+  "optimizer_file": "boundary_21fc8719ac9d4f4786fdc0941bd57825_optimizer.pt",
+  "arrays_sha256": "a7a6dc01124b693f763ef45e0fdf5f390dc569b451801a8bca14f592244b2ad8",
+  "optimizer_sha256": "62e34530e8dcb724b28c4777c04bbed7a04277efe759e4f2606c690954b009b2",
+  "stage": "adam",
+  "completed_passes": 318,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53424,
+  "adam_update_count": 53424,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 319,
+    "consumed_count": 318,
+    "last_submitted_update": 53424,
+    "last_consumed_update": 53256,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53424,
+          "completed_passes": 318,
+          "next_interval": 0,
+          "trained_intervals": 53424,
+          "snapshot": "pass_end_0318",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 318,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53424,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53424,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0005077959503978491,
+            "update_l2": 0.06468995660543442
+          },
+          "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": 2.677789052540902e-05,
+            "update_l2": 0.002770175924524665
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10649655001868387,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23926,
+          "attachment": 121,
+          "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": 0.10649655001868387,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03367359936237335,
+            "ssim_fused": 0.8938857913017273,
+            "seg_l1": 0.0463743656873703,
+            "seg_ssim_ref": 0.893884539604187,
+            "depth": 0.012244905129876051,
+            "rgb_loss": 0.04816171154379845,
+            "seg_loss": 0.058322593569755554,
+            "total": 0.10649655001868387
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.051632463932037354,
+              "ssim_fused": 0.875471293926239,
+              "seg_l1": 0.061586085706949234,
+              "seg_ssim_ref": 0.8754706382751465,
+              "depth": 0.0192898401303967,
+              "rgb_loss": 0.06621171534061432,
+              "seg_loss": 0.07417473942041397,
+              "total": 0.14040575205173927,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.0192898401303967,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013799616606091148
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03840450569987297,
+              "ssim_fused": 0.8771275281906128,
+              "seg_l1": 0.06258031725883484,
+              "seg_ssim_ref": 0.8771259188652039,
+              "depth": 0.014166125791021625,
+              "rgb_loss": 0.0552980974316597,
+              "seg_loss": 0.07463906705379486,
+              "total": 0.12995133806182618,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014166125791021625,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011071856042757733
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02537505514919758,
+              "ssim_fused": 0.9092017412185669,
+              "seg_l1": 0.0372425802052021,
+              "seg_ssim_ref": 0.9092003703117371,
+              "depth": 0.009990661117762017,
+              "rgb_loss": 0.038459695875644684,
+              "seg_loss": 0.04795399308204651,
+              "total": 0.08642367961880895,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009990661117762017,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00870264679484535
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01928236521780491,
+              "ssim_fused": 0.9137427806854248,
+              "seg_l1": 0.024088479578495026,
+              "seg_ssim_ref": 0.9137411117553711,
+              "depth": 0.005532993480323866,
+              "rgb_loss": 0.032677337527275085,
+              "seg_loss": 0.03652255982160568,
+              "total": 0.0692054303423611,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005532993480323866,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005532993480323866
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 318,
+        "adam_update_count": 53424
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.25391044886782765
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_21fc8719ac9d4f4786fdc0941bd57825_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 319,
+  "next_interval": 0,
+  "next_adam_update": 53425,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 318,
+    "trained_intervals": 53424,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53424,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.9784746170043945,
+      "median": 10.681434631347656,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.4363207519054413,
+      "median": 9.267610549926758,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009317233343608677,
+      "median": 43539.96875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.646410346031189,
+      "median": 10593.28125,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23926,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0319.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0319",
+  "executed_epochs": 319,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_300ae0ecc0684ec890c25bb3f98131d1.npz",
+  "optimizer_file": "boundary_300ae0ecc0684ec890c25bb3f98131d1_optimizer.pt",
+  "arrays_sha256": "3ede05759cd997c33a5e67e7a9eec2ad9b81febb003832031c37e36571ffae21",
+  "optimizer_sha256": "4cde286bf1f6c45c079a6c8c78a48884aeef55463c5b711b57fce4b9678bca4d",
+  "stage": "adam",
+  "completed_passes": 319,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53592,
+  "adam_update_count": 53592,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 320,
+    "consumed_count": 319,
+    "last_submitted_update": 53592,
+    "last_consumed_update": 53424,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53592,
+          "completed_passes": 319,
+          "next_interval": 0,
+          "trained_intervals": 53592,
+          "snapshot": "pass_end_0319",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 319,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53592,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53592,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.000137864873977378,
+            "update_l2": 0.058715201914310455
+          },
+          "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": 2.820711233653128e-05,
+            "update_l2": 0.0032365068327635527
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10710183966872107,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23943,
+          "attachment": 121,
+          "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": 0.10710183966872107,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.0338481180369854,
+            "ssim_fused": 0.8934338688850403,
+            "seg_l1": 0.04673038795590401,
+            "seg_ssim_ref": 0.8934326171875,
+            "depth": 0.012335069149848131,
+            "rgb_loss": 0.048391714692115784,
+            "seg_loss": 0.05869779363274574,
+            "total": 0.10710183966872107
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05178648605942726,
+              "ssim_fused": 0.8751277923583984,
+              "seg_l1": 0.06200867146253586,
+              "seg_ssim_ref": 0.8751271367073059,
+              "depth": 0.01944622688582335,
+              "rgb_loss": 0.06640362739562988,
+              "seg_loss": 0.07458151131868362,
+              "total": 0.14100457749061873,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01944622688582335,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013956003361517795
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03867971524596214,
+              "ssim_fused": 0.8767140507698059,
+              "seg_l1": 0.06333945691585541,
+              "seg_ssim_ref": 0.876712441444397,
+              "depth": 0.014361503097387807,
+              "rgb_loss": 0.05560096353292465,
+              "seg_loss": 0.07532908022403717,
+              "total": 0.1309443978094786,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014361503097387807,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011267233349123917
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02552628330886364,
+              "ssim_fused": 0.9089236855506897,
+              "seg_l1": 0.03740568459033966,
+              "seg_ssim_ref": 0.9089224338531494,
+              "depth": 0.010002891881806879,
+              "rgb_loss": 0.03863628953695297,
+              "seg_loss": 0.048140060156583786,
+              "total": 0.08678634886012827,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010002891881806879,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008714877558890213
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019399981945753098,
+              "ssim_fused": 0.9129700064659119,
+              "seg_l1": 0.0241677425801754,
+              "seg_ssim_ref": 0.9129683971405029,
+              "depth": 0.00552965473437449,
+              "rgb_loss": 0.032925985753536224,
+              "seg_loss": 0.036740515381097794,
+              "total": 0.06967203451465868,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.00552965473437449,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.00552965473437449
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 319,
+        "adam_update_count": 53592
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.2565362770110369
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_300ae0ecc0684ec890c25bb3f98131d1_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 320,
+  "next_interval": 0,
+  "next_adam_update": 53593,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 319,
+    "trained_intervals": 53592,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53592,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.989945411682129,
+      "median": 10.683024406433105,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.4610203802585602,
+      "median": 9.259296417236328,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009210968273691833,
+      "median": 43609.2421875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.6306397914886475,
+      "median": 10505.513671875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23944,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0320.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0320",
+  "executed_epochs": 320,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_c7cc68a9ceb2490686516227e0c5ea94.npz",
+  "optimizer_file": "boundary_c7cc68a9ceb2490686516227e0c5ea94_optimizer.pt",
+  "arrays_sha256": "8c4ac5bd57fb50a72b696170424fecde52e1152381e83d621818f686c2387cfd",
+  "optimizer_sha256": "418dfa29c66b4e83d09d7c7e3ebf2c0984541256dcebf64bf371e68cefc69a0c",
+  "stage": "adam",
+  "completed_passes": 320,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53760,
+  "adam_update_count": 53760,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 321,
+    "consumed_count": 320,
+    "last_submitted_update": 53760,
+    "last_consumed_update": 53592,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53760,
+          "completed_passes": 320,
+          "next_interval": 0,
+          "trained_intervals": 53760,
+          "snapshot": "pass_end_0320",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 320,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53760,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53760,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00032088413718156517,
+            "update_l2": 0.05913282930850983
+          },
+          "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": 2.6070401872857474e-05,
+            "update_l2": 0.0029292069375514984
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10640940029658764,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23962,
+          "attachment": 121,
+          "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": 1,
+          "ground_restitution/contact_active": 1
+        },
+        "photometric_transition": {
+          "transition_index": 167,
+          "loss": 0.10640940029658764,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03365151956677437,
+            "ssim_fused": 0.8937820196151733,
+            "seg_l1": 0.04623575508594513,
+            "seg_ssim_ref": 0.8937807083129883,
+            "depth": 0.012129140276603285,
+            "rgb_loss": 0.04816480726003647,
+            "seg_loss": 0.05823246017098427,
+            "total": 0.10640940029658764
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05164119973778725,
+              "ssim_fused": 0.8753995895385742,
+              "seg_l1": 0.061507683247327805,
+              "seg_ssim_ref": 0.8753989338874817,
+              "depth": 0.01928802853158158,
+              "rgb_loss": 0.06623303890228271,
+              "seg_loss": 0.07412636280059814,
+              "total": 0.14037868973141243,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01928802853158158,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01379780500727602
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03859655186533928,
+              "ssim_fused": 0.8768250942230225,
+              "seg_l1": 0.06303015351295471,
+              "seg_ssim_ref": 0.8768234848976135,
+              "depth": 0.01420564541961584,
+              "rgb_loss": 0.05551222339272499,
+              "seg_loss": 0.0750594288110733,
+              "total": 0.13058585412392762,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.01420564541961584,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.01111137567135195
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025148872286081314,
+              "ssim_fused": 0.909228503704071,
+              "seg_l1": 0.03661729022860527,
+              "seg_ssim_ref": 0.9092270731925964,
+              "depth": 0.009555423260018903,
+              "rgb_loss": 0.0382733978331089,
+              "seg_loss": 0.04744841903448105,
+              "total": 0.08573137601614027,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009555423260018903,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008267408937102236
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01921946182847023,
+              "ssim_fused": 0.9136749505996704,
+              "seg_l1": 0.023787878453731537,
+              "seg_ssim_ref": 0.9136733412742615,
+              "depth": 0.005467463895196819,
+              "rgb_loss": 0.03264058008790016,
+              "seg_loss": 0.03629563748836517,
+              "total": 0.06894168131487023,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005467463895196819,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005467463895196819
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 320,
+        "adam_update_count": 53760
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24394638207741082
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_c7cc68a9ceb2490686516227e0c5ea94_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 321,
+  "next_interval": 0,
+  "next_adam_update": 53761,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 320,
+    "trained_intervals": 53760,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53760,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -6.997030258178711,
+      "median": 10.683687210083008,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.4871032238006592,
+      "median": 9.258953094482422,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009145940421149135,
+      "median": 43638.15625,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.6144036650657654,
+      "median": 10502.228515625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23962,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0321.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0321",
+  "executed_epochs": 321,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_8c798e31b2ec4532bd329890c92eec22.npz",
+  "optimizer_file": "boundary_8c798e31b2ec4532bd329890c92eec22_optimizer.pt",
+  "arrays_sha256": "078e80ec66510aa513a1d37edc7ebc3c818a9b6ca75238d9d4b05ce8dab7379d",
+  "optimizer_sha256": "d59e7a3e382b6c56ad88e56379dfa77db331389c1e9c89b58fcd4ae9951bf07c",
+  "stage": "adam",
+  "completed_passes": 321,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 53928,
+  "adam_update_count": 53928,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 322,
+    "consumed_count": 321,
+    "last_submitted_update": 53928,
+    "last_consumed_update": 53760,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 53928,
+          "completed_passes": 321,
+          "next_interval": 0,
+          "trained_intervals": 53928,
+          "snapshot": "pass_end_0321",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 321,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 53928,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 53928,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00015793154307175428,
+            "update_l2": 0.06195266917347908
+          },
+          "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": 2.8835809644078836e-05,
+            "update_l2": 0.0037066685035824776
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10714721741432454,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23977,
+          "attachment": 121,
+          "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": 0.10714721741432454,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03391984477639198,
+            "ssim_fused": 0.8936007022857666,
+            "seg_l1": 0.04679873213171959,
+            "seg_ssim_ref": 0.8935994505882263,
+            "depth": 0.012385345046781878,
+            "rgb_loss": 0.048415735363960266,
+            "seg_loss": 0.058719098567962646,
+            "total": 0.10714721741432454
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.052144769579172134,
+              "ssim_fused": 0.8748465776443481,
+              "seg_l1": 0.0625445768237114,
+              "seg_ssim_ref": 0.8748459219932556,
+              "depth": 0.019690007258059535,
+              "rgb_loss": 0.06674650311470032,
+              "seg_loss": 0.075066477060318,
+              "total": 0.14183267018227638,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019690007258059535,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.01419978373375398
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03841192647814751,
+              "ssim_fused": 0.8772403001785278,
+              "seg_l1": 0.06263397634029388,
+              "seg_ssim_ref": 0.8772386908531189,
+              "depth": 0.014216137448070416,
+              "rgb_loss": 0.05528148263692856,
+              "seg_loss": 0.07465944439172745,
+              "total": 0.12995514316610407,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014216137448070416,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011121867699806528
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02556699886918068,
+              "ssim_fused": 0.9090360999107361,
+              "seg_l1": 0.03749821335077286,
+              "seg_ssim_ref": 0.9090348482131958,
+              "depth": 0.010037637716622302,
+              "rgb_loss": 0.038646381348371506,
+              "seg_loss": 0.04819159954786301,
+              "total": 0.08684801480866083,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.010037637716622302,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008749623393705632
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01955568976700306,
+              "ssim_fused": 0.9132798910140991,
+              "seg_l1": 0.024518171325325966,
+              "seg_ssim_ref": 0.913278341293335,
+              "depth": 0.005597597764375258,
+              "rgb_loss": 0.03298857435584068,
+              "seg_loss": 0.03695886954665184,
+              "total": 0.0699530415002569,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005597597764375258,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005597597764375257
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 321,
+        "adam_update_count": 53928
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24177461490035057
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_8c798e31b2ec4532bd329890c92eec22_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 322,
+  "next_interval": 0,
+  "next_adam_update": 53929,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 321,
+    "trained_intervals": 53928,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 53928,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -7.007065296173096,
+      "median": 10.69324779510498,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.5125501155853271,
+      "median": 9.251773834228516,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0009054619586095214,
+      "median": 44057.3671875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.5989661812782288,
+      "median": 10429.509765625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23977,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0322.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0322",
+  "executed_epochs": 322,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_4f1973d2e9dd482b96dbd393eedd0831.npz",
+  "optimizer_file": "boundary_4f1973d2e9dd482b96dbd393eedd0831_optimizer.pt",
+  "arrays_sha256": "48dd5cb0637099790f4a584adad5aeb7fc73b4c301a5667fddfe0d0836031b2c",
+  "optimizer_sha256": "1b92e02e2c1e9e53f3c5fb762a523a1eb50a9432f7d636f55a77e7a5d13857a5",
+  "stage": "adam",
+  "completed_passes": 322,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54096,
+  "adam_update_count": 54096,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 323,
+    "consumed_count": 322,
+    "last_submitted_update": 54096,
+    "last_consumed_update": 53928,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54096,
+          "completed_passes": 322,
+          "next_interval": 0,
+          "trained_intervals": 54096,
+          "snapshot": "pass_end_0322",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 322,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54096,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54096,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00015475184773094952,
+            "update_l2": 0.05475541949272156
+          },
+          "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": 2.732117172854487e-05,
+            "update_l2": 0.0034617052879184484
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.1068164003217319,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23993,
+          "attachment": 121,
+          "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": 0.1068164003217319,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.03378817439079285,
+            "ssim_fused": 0.8936479091644287,
+            "seg_l1": 0.04654064029455185,
+            "seg_ssim_ref": 0.8936466574668884,
+            "depth": 0.012256684313143812,
+            "rgb_loss": 0.04830096289515495,
+            "seg_loss": 0.058503180742263794,
+            "total": 0.1068164003217319
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05198412761092186,
+              "ssim_fused": 0.8748977184295654,
+              "seg_l1": 0.0621650330722332,
+              "seg_ssim_ref": 0.8748971223831177,
+              "depth": 0.01943746504096987,
+              "rgb_loss": 0.0666077584028244,
+              "seg_loss": 0.07475259900093079,
+              "total": 0.14137979486879615,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.01943746504096987,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013947241516664315
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.03830839321017265,
+              "ssim_fused": 0.8771995306015015,
+              "seg_l1": 0.06233835220336914,
+              "seg_ssim_ref": 0.8771979808807373,
+              "depth": 0.014130712839809196,
+              "rgb_loss": 0.05520680919289589,
+              "seg_loss": 0.07443108409643173,
+              "total": 0.12965202772745774,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014130712839809196,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011036443091545306
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.02535167522728443,
+              "ssim_fused": 0.9097521305084229,
+              "seg_l1": 0.037188366055488586,
+              "seg_ssim_ref": 0.9097508192062378,
+              "depth": 0.009954737239143965,
+              "rgb_loss": 0.038330912590026855,
+              "seg_loss": 0.04780052974820137,
+              "total": 0.08614139335017706,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009954737239143965,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.008666722916227299
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.019508499652147293,
+              "ssim_fused": 0.9127421379089355,
+              "seg_l1": 0.02447081357240677,
+              "seg_ssim_ref": 0.9127407073974609,
+              "depth": 0.005503822132652212,
+              "rgb_loss": 0.033058375120162964,
+              "seg_loss": 0.03702851012349129,
+              "total": 0.07009238534049661,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005503822132652212,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005503822132652212
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 322,
+        "adam_update_count": 54096
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24836869607679546
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_4f1973d2e9dd482b96dbd393eedd0831_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 323,
+  "next_interval": 0,
+  "next_adam_update": 54097,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 322,
+    "trained_intervals": 54096,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54096,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -7.018646717071533,
+      "median": 10.700345993041992,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.5334146022796631,
+      "median": 9.254196166992188,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.000895035860594362,
+      "median": 44371.20703125,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.5865985751152039,
+      "median": 10454.482421875,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 23994,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/090-sloth/episode_0/runs/deform-sloth-ep0-d2-photo/native/adam_epochs/pass_end_0323.json

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "pass_end_0323",
+  "executed_epochs": 323,
+  "score": null,
+  "best_score": 0.08852175615371768,
+  "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_02f5169b05ab4fbdba193835e8bffc92.npz",
+  "optimizer_file": "boundary_02f5169b05ab4fbdba193835e8bffc92_optimizer.pt",
+  "arrays_sha256": "b516179ecafd09998f27e6a35e09305881379305f0dabd15747cf811b920f07f",
+  "optimizer_sha256": "15b4a6bed861634ec567214890a82e299b4e3bce7a214df3f4008db43d8971b5",
+  "stage": "adam",
+  "completed_passes": 323,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 54264,
+  "adam_update_count": 54264,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 324,
+    "consumed_count": 323,
+    "last_submitted_update": 54264,
+    "last_consumed_update": 54096,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 54264,
+          "completed_passes": 323,
+          "next_interval": 0,
+          "trained_intervals": 54264,
+          "snapshot": "pass_end_0323",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 53256,
+  "pass_science": {
+    "completed_passes": 323,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 54264,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 54264,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.005952380952380952,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.00019533316663000733,
+            "update_l2": 0.06462221592664719
+          },
+          "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": 3.167886097799055e-05,
+            "update_l2": 0.003241392085328698
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_0_aligned_50_218",
+            "transition_index": 167,
+            "loss": 0.10689006806898943,
+            "weight": 0.005952380952380952
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 24011,
+          "attachment": 121,
+          "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": 0.10689006806898943,
+          "state_finite": true,
+          "frame_index": 218,
+          "components": {
+            "l1": 0.033902622759342194,
+            "ssim_fused": 0.8936606645584106,
+            "seg_l1": 0.04652463644742966,
+            "seg_ssim_ref": 0.8936594128608704,
+            "depth": 0.012271717079786502,
+            "rgb_loss": 0.04838996380567551,
+            "seg_loss": 0.058487825095653534,
+            "total": 0.10689006806898943
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
+              "l1": 0.05239301919937134,
+              "ssim_fused": 0.8741085529327393,
+              "seg_l1": 0.06229390576481819,
+              "seg_ssim_ref": 0.8741078972816467,
+              "depth": 0.019407356652341553,
+              "rgb_loss": 0.06709270179271698,
+              "seg_loss": 0.07501354813575745,
+              "total": 0.14212565728512677,
+              "valid_depth_pixels": 218311,
+              "excluded_depth_pixels": 703289,
+              "object_depth_holes": 76,
+              "depth_full_image_mean_m": 0.019407356652341553,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 202340,
+                  "full_image_mean_m": 0.013917133128035997
+                },
+                "object_occluded": {
+                  "pixels": 15971,
+                  "full_image_mean_m": 0.005490223524305555
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.039131034165620804,
+              "ssim_fused": 0.8761733174324036,
+              "seg_l1": 0.06356141716241837,
+              "seg_ssim_ref": 0.876171886920929,
+              "depth": 0.014430989432097157,
+              "rgb_loss": 0.05607016384601593,
+              "seg_loss": 0.07561475783586502,
+              "total": 0.13169936012189365,
+              "valid_depth_pixels": 142688,
+              "excluded_depth_pixels": 778912,
+              "object_depth_holes": 0,
+              "depth_full_image_mean_m": 0.014430989432097157,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 136584,
+                  "full_image_mean_m": 0.011336719683833266
+                },
+                "object_occluded": {
+                  "pixels": 6104,
+                  "full_image_mean_m": 0.003094269748263889
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-023_cam0",
+              "l1": 0.025081930682063103,
+              "ssim_fused": 0.9101594090461731,
+              "seg_l1": 0.03673224523663521,
+              "seg_ssim_ref": 0.9101580381393433,
+              "depth": 0.009798140170825387,
+              "rgb_loss": 0.03803366422653198,
+              "seg_loss": 0.047354187816381454,
+              "total": 0.08539765390837456,
+              "valid_depth_pixels": 119877,
+              "excluded_depth_pixels": 801723,
+              "object_depth_holes": 474,
+              "depth_full_image_mean_m": 0.009798140170825387,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 117988,
+                  "full_image_mean_m": 0.00851012584790872
+                },
+                "object_occluded": {
+                  "pixels": 1889,
+                  "full_image_mean_m": 0.0012880143229166668
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-001_cam0",
+              "l1": 0.01900450885295868,
+              "ssim_fused": 0.9142013788223267,
+              "seg_l1": 0.023510973900556564,
+              "seg_ssim_ref": 0.9141998291015625,
+              "depth": 0.005450382063881908,
+              "rgb_loss": 0.03236333280801773,
+              "seg_loss": 0.03596881404519081,
+              "total": 0.06833760096056272,
+              "valid_depth_pixels": 115580,
+              "excluded_depth_pixels": 806020,
+              "object_depth_holes": 1388,
+              "depth_full_image_mean_m": 0.005450382063881908,
+              "depth_decomposition": {
+                "object_visible": {
+                  "pixels": 115580,
+                  "full_image_mean_m": 0.005450382063881908
+                },
+                "object_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            }
+          ],
+          "frame_indices": [
+            217,
+            218
+          ],
+          "times_s": [
+            5.566666666666666,
+            5.6
+          ]
+        },
+        "completed_passes": 323,
+        "adam_update_count": 54264
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.24226183304563165
+  },
+  "worker_isolation": "immutable pass snapshot committed before its reference is queued; a separate spawned scorer process (own Python/Torch/Warp runtime, objective and workspace) loads leaves from the snapshot file; training polls persisted results only; no shared lock or boundary drain",
+  "execution_mode": "atomic_captured",
+  "rng_file": "boundary_02f5169b05ab4fbdba193835e8bffc92_rng.pt",
+  "rng_sha256": "409f7bba84647e57db80329e82b9b3aff5f9977ee58e46c8ea7c537b4790bb42",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 324,
+  "next_interval": 0,
+  "next_adam_update": 54265,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 323,
+    "trained_intervals": 54264,
+    "source_timestamp_s": 5.6,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 84000
+  },
+  "trained_intervals": 54264,
+  "source_timestamp_s": 5.6,
+  "archive_axis": "optimizer_update",
+  "objective_carry_names": [
+    "canonical_colors",
+    "canonical_means",
+    "canonical_opacities",
+    "canonical_particles",
+    "canonical_quats",
+    "canonical_scales",
+    "committed_means",
+    "committed_particles",
+    "committed_quats",
+    "frame_index",
+    "gaussian_supports",
+    "node_ids",
+    "particle_relations",
+    "particle_state_id",
+    "prepared",
+    "registration",
+    "state_id",
+    "time_s"
+  ],
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": -7.021617889404297,
+      "median": 10.704322814941406,
+      "max": 11.535470008850098,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 2.005976915359497,
+      "median": 2.005976915359497,
+      "max": 2.005976915359497,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0029794860165566206,
+      "median": -0.0029794860165566206,
+      "max": -0.0029794860165566206,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": -0.5527383685112,
+      "median": 9.270487785339355,
+      "max": 11.528096199035645,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 0.0008923806017264724,
+      "median": 44548.01171875,
+      "max": 100000.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 50173,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 0.575372040271759,
+      "median": 10627.0244140625,
+      "max": 100000.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 300,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 2.0,
+      "median": 2.0,
+      "max": 2.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 1,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 24011,
+    "controller_edge_stiffness": 121
+  },
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}