processed/001-rope/episode_0/runs/deform-rope-ep0-e2: payload batch 16/29

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fc7bccf0f0974d60a7a8020bc8422ef8_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a359fae9a457d6a3e2f07e75590e7bf211f0d0410fea9b2f92c023dccd9935
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fc7bccf0f0974d60a7a8020bc8422ef8_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcc13d7551c743c3b26326dbe19853fa.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b8de2737db24ad3337a35af699a02ddf391cc53ac4a4ae8821e43db85d108f
+size 103676

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcc13d7551c743c3b26326dbe19853fa_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5644f779200241db7edf2b9a78c730f906227b6515505b7f01fe34eee0ae027
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcc13d7551c743c3b26326dbe19853fa_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcd87b504d29478c9b6e3fe9ff1d56b7.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3ca339e194b0ba8e42840fc28f57c913270d9cbc77c417ce3a10b36d47af16
+size 103868

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcd87b504d29478c9b6e3fe9ff1d56b7_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8c26522041af51760f361d3babdf6edb0e8dafa6f75408948609257c1545dc8
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fcd87b504d29478c9b6e3fe9ff1d56b7_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fd14e4d4d99d4ba39dc861a87c086353.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:962b601ff9c00d05573126302e303368a808f236864cbc218285a909b73967bc
+size 103650

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fd14e4d4d99d4ba39dc861a87c086353_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490d75dc983242fd4c3e8c14ceab062a5f573747e1a6298bdc4ce5d760f34545
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fd14e4d4d99d4ba39dc861a87c086353_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fdf1ffd6c4bf417a88947f3a29e2f55d.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e32c199b4555bd60361e9d839256e15a42f866882759ffe7f8ea428b4bf96da
+size 103749

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fdf1ffd6c4bf417a88947f3a29e2f55d_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919400a4cd13eca715a367ded6bda0b1f43dfed0392d9e57e87ce219f9c84908
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fdf1ffd6c4bf417a88947f3a29e2f55d_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fe50cdff29644c868ef2567005adbe0c.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83eec230552f89949c39299229f7b9bf227e10fc86e4321d766a9bcf2d2193b4
+size 103780

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fe50cdff29644c868ef2567005adbe0c_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7285859ee3edbad3d03050264d2a13e9b821f1ea97145bee0d4d04630e26b049
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_fe50cdff29644c868ef2567005adbe0c_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_ff8dc51bd85d476a870c3a01376b261e.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a774e7f1429973b45c409db66a5d442681419fc983b870437d961d8153b8ab
+size 99089

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_ff8dc51bd85d476a870c3a01376b261e_optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09585e8e739d02da9c9604ddf1352404501145130507b588ef14eeb09540fb90
+size 88935

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_ff8dc51bd85d476a870c3a01376b261e_rng.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044
+size 14805

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/boundary_previous.json

@@ -0,0 +1,242 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "boundary",
+  "executed_epochs": 499,
+  "score": null,
+  "best_score": 6.666239762864734e-06,
+  "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_2cc3cc1062f9423ab5d3449456d4eadd.npz",
+  "optimizer_file": "boundary_2cc3cc1062f9423ab5d3449456d4eadd_optimizer.pt",
+  "arrays_sha256": "bbe59781909ec6643f1e080f1b2a91ebbc06258c15e29f0ad3ca5566d8d14f3c",
+  "optimizer_sha256": "ea563b6f9c6c1b045e6650f3bce9fc874aa8bf75d5821a24dc68fb828057275e",
+  "stage": "adam",
+  "completed_passes": 499,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 47999,
+  "adam_update_count": 47999,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 500,
+    "consumed_count": 500,
+    "last_submitted_update": 47904,
+    "last_consumed_update": 47904,
+    "pending": []
+  },
+  "best_source_update": 47904,
+  "pass_science": {
+    "completed_passes": 499,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 95,
+    "trained_intervals": 47999,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 47999,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.814916228999209e-07,
+            "update_l2": 0.0057882280088961124
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.114868950935488e-06,
+            "update_l2": 0.0007974803447723389
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 5.042770112595463e-08,
+            "update_l2": 0.0024820505641400814
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 94,
+            "loss": 1.0514482710277662e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 94,
+          "loss": 1.0514482710277662e-05,
+          "observation_loss": 1.0514482710277662e-05,
+          "chamfer": 7.836106306058355e-06,
+          "track": 2.6783766315929824e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            186,
+            187
+          ],
+          "times_s": [
+            3.1333333333333333,
+            3.1666666666666665
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 499,
+        "adam_update_count": 47999
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022531735001393827
+  },
+  "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_2cc3cc1062f9423ab5d3449456d4eadd_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 500,
+  "next_interval": 95,
+  "next_adam_update": 48000,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 95,
+    "completed_passes": 499,
+    "trained_intervals": 47999,
+    "source_timestamp_s": 3.1666666666666665,
+    "next_source_timestamp_s": 3.1666666666666665,
+    "update_budget": 48000
+  },
+  "trained_intervals": 47999,
+  "source_timestamp_s": 3.1666666666666665,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 4.381254196166992,
+      "median": 10.41120433807373,
+      "max": 11.52308464050293,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.49740204215049744,
+      "median": 0.49740204215049744,
+      "max": 0.49740204215049744,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 6.591519832611084,
+      "median": 10.320563316345215,
+      "max": 11.522106170654297,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 79.93822479248047,
+      "median": 33229.8671875,
+      "max": 100000.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 728.8878173828125,
+      "median": 30350.3515625,
+      "max": 100000.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.49740204215049744,
+      "median": 0.49740204215049744,
+      "max": 0.49740204215049744,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 952,
+    "controller_edge_stiffness": 108
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0000.json

@@ -0,0 +1,185 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0000",
+  "executed_epochs": 0,
+  "score": null,
+  "best_score": null,
+  "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": "theta_0_c24ff8b61f2a4709bb8d9edeb78ce524.npz",
+  "optimizer_file": "theta_0_c24ff8b61f2a4709bb8d9edeb78ce524_optimizer.pt",
+  "arrays_sha256": "8ac65346c439c4c90451f5e138c5d828d3ca3c1d49809c766038fc2f1563cc0c",
+  "optimizer_sha256": "786f410e8df8fb1bdf1d7764d8603223afb5d15601dab4c2bd61a151637dc694",
+  "stage": "adam",
+  "completed_passes": 0,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 0,
+  "adam_update_count": 0,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 1,
+    "consumed_count": 0,
+    "last_submitted_update": 0,
+    "last_consumed_update": -1,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 0,
+          "completed_passes": 0,
+          "next_interval": 0,
+          "trained_intervals": 0,
+          "snapshot": "pass_end_0000",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": null,
+  "pass_science": null,
+  "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": "theta_0_c24ff8b61f2a4709bb8d9edeb78ce524_rng.pt",
+  "rng_sha256": "7487bbb778d31e511d44f399bc5894106375cf45f5922508c38119394ebf0ced",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 1,
+  "next_interval": 0,
+  "next_adam_update": 1,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 0,
+    "trained_intervals": 0,
+    "source_timestamp_s": 0.0,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 0,
+  "source_timestamp_s": 0.0,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.323161125183105,
+      "median": 10.323161125183105,
+      "max": 10.323161125183105,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4778096675872803,
+      "median": 0.4778096675872803,
+      "max": 0.4778096675872803,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": 0.02305230125784874,
+      "median": 0.02305230125784874,
+      "max": 0.02305230125784874,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.323161125183105,
+      "median": 10.323161125183105,
+      "max": 10.323161125183105,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 30429.296875,
+      "median": 30429.296875,
+      "max": 30429.296875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 30429.296875,
+      "median": 30429.296875,
+      "max": 30429.296875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4778096675872803,
+      "median": 0.4778096675872803,
+      "max": 0.4778096675872803,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.02305230125784874,
+      "median": 0.02305230125784874,
+      "max": 0.02305230125784874,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 0,
+    "raw_ground_restitution": 0,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0001.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0001",
+  "executed_epochs": 1,
+  "score": null,
+  "best_score": 1.277236647230969e-05,
+  "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_63bf568b17ce457bb2cfef6c079c3cb8.npz",
+  "optimizer_file": "boundary_63bf568b17ce457bb2cfef6c079c3cb8_optimizer.pt",
+  "arrays_sha256": "5402b7e0ae9f133aa8dbac89fb4faac95fda826930739cdc3dc29dd10954e847",
+  "optimizer_sha256": "14595697981e5ead5b1c1e111e85164bf47ab3ba8d9ab86f505b43c24843637f",
+  "stage": "adam",
+  "completed_passes": 1,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 96,
+  "adam_update_count": 96,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 2,
+    "consumed_count": 1,
+    "last_submitted_update": 96,
+    "last_consumed_update": 0,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 96,
+          "completed_passes": 1,
+          "next_interval": 0,
+          "trained_intervals": 96,
+          "snapshot": "pass_end_0001",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 0,
+  "pass_science": {
+    "completed_passes": 1,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 96,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 96,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.9940088097646367e-07,
+            "update_l2": 0.012031732127070427
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.9594284001177584e-07,
+            "update_l2": 0.0006040632724761963
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 1.0689267355701304e-06,
+            "update_l2": 0.0014337021857500076
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.1360211971123135e-07,
+            "update_l2": 0.0064156497828662395
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.1220423150225542e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.1220423150225542e-05,
+          "observation_loss": 2.1220423150225542e-05,
+          "chamfer": 1.3697258509637322e-05,
+          "track": 7.52316464058822e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 1,
+        "adam_update_count": 96
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02205932099968777
+  },
+  "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_63bf568b17ce457bb2cfef6c079c3cb8_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 2,
+  "next_interval": 0,
+  "next_adam_update": 97,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 1,
+    "trained_intervals": 96,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 96,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.276839256286621,
+      "median": 10.323290824890137,
+      "max": 10.375526428222656,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.45019689202308655,
+      "median": 0.45019689202308655,
+      "max": 0.45019689202308655,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": 0.01726764440536499,
+      "median": 0.01726764440536499,
+      "max": 0.01726764440536499,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.27159309387207,
+      "median": 10.323161125183105,
+      "max": 10.364484786987305,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 29051.90234375,
+      "median": 30433.2421875,
+      "max": 32065.193359375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 28899.890625,
+      "median": 30429.296875,
+      "max": 31713.087890625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.45019689202308655,
+      "median": 0.45019689202308655,
+      "max": 0.45019689202308655,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "effective_ground_restitution": {
+      "min": 0.01726764440536499,
+      "median": 0.01726764440536499,
+      "max": 0.01726764440536499,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    }
+  },
+  "guard_affected_counts": {
+    "raw_ground_friction": 0,
+    "raw_ground_restitution": 0,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0002.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0002",
+  "executed_epochs": 2,
+  "score": null,
+  "best_score": 1.277236647230969e-05,
+  "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_04dd7e7cc0454ff59935d1c70d49cd80.npz",
+  "optimizer_file": "boundary_04dd7e7cc0454ff59935d1c70d49cd80_optimizer.pt",
+  "arrays_sha256": "5a6f6ed04bb6b3da7615463aceb83e2d2e13345c55dfcbeead063e24ebbbdc4a",
+  "optimizer_sha256": "8373b843f80e38e1cdcb4baf89d625a80f571a3eca75320c83f5725a38121fcf",
+  "stage": "adam",
+  "completed_passes": 2,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 192,
+  "adam_update_count": 192,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 3,
+    "consumed_count": 2,
+    "last_submitted_update": 192,
+    "last_consumed_update": 96,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 192,
+          "completed_passes": 2,
+          "next_interval": 0,
+          "trained_intervals": 192,
+          "snapshot": "pass_end_0002",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 0,
+  "pass_science": {
+    "completed_passes": 2,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 192,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 192,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.885242054162518e-07,
+            "update_l2": 0.012067320756614208
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.9842260573786916e-07,
+            "update_l2": 0.0006587207317352295
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 1.3728506473853486e-06,
+            "update_l2": 0.0013580769300460815
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.0973833752814244e-07,
+            "update_l2": 0.006368244532495737
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.13071998587111e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.13071998587111e-05,
+          "observation_loss": 2.13071998587111e-05,
+          "chamfer": 1.3842472071701195e-05,
+          "track": 7.464728241757257e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 2,
+        "adam_update_count": 192
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.023289272998226807
+  },
+  "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_04dd7e7cc0454ff59935d1c70d49cd80_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 3,
+  "next_interval": 0,
+  "next_adam_update": 193,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 2,
+    "trained_intervals": 192,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 192,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.232536315917969,
+      "median": 10.323402404785156,
+      "max": 10.418514251708984,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.44580361247062683,
+      "median": 0.44580361247062683,
+      "max": 0.44580361247062683,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.0003636020119301975,
+      "median": -0.0003636020119301975,
+      "max": -0.0003636020119301975,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.22503662109375,
+      "median": 10.323161125183105,
+      "max": 10.411154747009277,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 27792.912109375,
+      "median": 30436.638671875,
+      "max": 33473.6640625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 27585.25390625,
+      "median": 30429.296875,
+      "max": 33228.21484375,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.44580361247062683,
+      "median": 0.44580361247062683,
+      "max": 0.44580361247062683,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0003.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0003",
+  "executed_epochs": 3,
+  "score": null,
+  "best_score": 1.277236647230969e-05,
+  "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_90fad1459abe4585841c999e297c815c.npz",
+  "optimizer_file": "boundary_90fad1459abe4585841c999e297c815c_optimizer.pt",
+  "arrays_sha256": "bfc17ecc223b243a792d60f9e09fe4a98c0f7bc665d0d4fb0c386d8e8ff0619b",
+  "optimizer_sha256": "158a3b2352ad4b7ba16407e9b8f1cae6dcfb79839abf792bda1c1020735f5786",
+  "stage": "adam",
+  "completed_passes": 3,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 288,
+  "adam_update_count": 288,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 4,
+    "consumed_count": 3,
+    "last_submitted_update": 288,
+    "last_consumed_update": 192,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 288,
+          "completed_passes": 3,
+          "next_interval": 0,
+          "trained_intervals": 288,
+          "snapshot": "pass_end_0003",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 0,
+  "pass_science": {
+    "completed_passes": 3,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 288,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 288,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.6995283519681834e-07,
+            "update_l2": 0.01199834793806076
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.574859081505565e-07,
+            "update_l2": 0.0006806552410125732
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 9.220093488693237e-08
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.017585091744877e-07,
+            "update_l2": 0.006241842173039913
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.1353853298933245e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.1353853298933245e-05,
+          "observation_loss": 2.1353853298933245e-05,
+          "chamfer": 1.3941346878709737e-05,
+          "track": 7.412505965476157e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 3,
+        "adam_update_count": 288
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022611057000176515
+  },
+  "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_90fad1459abe4585841c999e297c815c_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 4,
+  "next_interval": 0,
+  "next_adam_update": 289,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 3,
+    "trained_intervals": 288,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 288,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.189498901367188,
+      "median": 10.323514938354492,
+      "max": 10.466547966003418,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4440004229545593,
+      "median": 0.4440004229545593,
+      "max": 0.4440004229545593,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013314248993992805,
+      "median": -0.013314248993992805,
+      "max": -0.013314248993992805,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.180232048034668,
+      "median": 10.323161125183105,
+      "max": 10.458322525024414,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 26622.150390625,
+      "median": 30440.064453125,
+      "max": 35120.76953125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 26376.5859375,
+      "median": 30429.296875,
+      "max": 34833.0703125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4440004229545593,
+      "median": 0.4440004229545593,
+      "max": 0.4440004229545593,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0004.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0004",
+  "executed_epochs": 4,
+  "score": null,
+  "best_score": 1.277236647230969e-05,
+  "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_d3b2e9d18add4714a05be74975ff13ad.npz",
+  "optimizer_file": "boundary_d3b2e9d18add4714a05be74975ff13ad_optimizer.pt",
+  "arrays_sha256": "87c7acfd5e4dab98c379e6c717aa1794fb491e99b08ab547c9123973145db609",
+  "optimizer_sha256": "932b6da509409fe6724266f825892cef3206e8d2c5a6bbe067e95ae124d12751",
+  "stage": "adam",
+  "completed_passes": 4,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 384,
+  "adam_update_count": 384,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 5,
+    "consumed_count": 4,
+    "last_submitted_update": 384,
+    "last_consumed_update": 288,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 384,
+          "completed_passes": 4,
+          "next_interval": 0,
+          "trained_intervals": 384,
+          "snapshot": "pass_end_0004",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 0,
+  "pass_science": {
+    "completed_passes": 4,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 384,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 384,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.6722190682448854e-07,
+            "update_l2": 0.011787726543843746
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.2084871059414581e-07,
+            "update_l2": 0.000689774751663208
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.0325285870749212e-07,
+            "update_l2": 0.006081326398998499
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.1147026927792467e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.1147026927792467e-05,
+          "observation_loss": 2.1147026927792467e-05,
+          "chamfer": 1.3855753422831185e-05,
+          "track": 7.291273504961282e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 4,
+        "adam_update_count": 384
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02233298300052411
+  },
+  "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_d3b2e9d18add4714a05be74975ff13ad_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 5,
+  "next_interval": 0,
+  "next_adam_update": 385,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 4,
+    "trained_intervals": 384,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 384,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.148698806762695,
+      "median": 10.323627471923828,
+      "max": 10.514124870300293,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4429827630519867,
+      "median": 0.4429827630519867,
+      "max": 0.4429827630519867,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.13636589050293,
+      "median": 10.323161125183105,
+      "max": 10.505751609802246,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 25557.82421875,
+      "median": 30443.490234375,
+      "max": 36832.09375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 25244.55859375,
+      "median": 30429.296875,
+      "max": 36524.9765625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4429827630519867,
+      "median": 0.4429827630519867,
+      "max": 0.4429827630519867,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0005.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0005",
+  "executed_epochs": 5,
+  "score": null,
+  "best_score": 1.2756664155233466e-05,
+  "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_94923da443f140b9b74d69e93da9b1ab.npz",
+  "optimizer_file": "boundary_94923da443f140b9b74d69e93da9b1ab_optimizer.pt",
+  "arrays_sha256": "280e43ae1b22cecbfd3efb52aa793a5232ce98aabb908b715dc892cf4948598c",
+  "optimizer_sha256": "5bb16f7980269d694f97ba3d9cae8879208a6a26cd4e92aaf999af457045ff52",
+  "stage": "adam",
+  "completed_passes": 5,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 480,
+  "adam_update_count": 480,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 6,
+    "consumed_count": 5,
+    "last_submitted_update": 480,
+    "last_consumed_update": 384,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 480,
+          "completed_passes": 5,
+          "next_interval": 0,
+          "trained_intervals": 480,
+          "snapshot": "pass_end_0005",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 384,
+  "pass_science": {
+    "completed_passes": 5,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 480,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 480,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.551860234234482e-07,
+            "update_l2": 0.011793563142418861
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 6.408114217038019e-08,
+            "update_l2": 0.0007080435752868652
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 9.823209978776504e-08,
+            "update_l2": 0.00600071158260107
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.0932282495778054e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.0932282495778054e-05,
+          "observation_loss": 2.0932282495778054e-05,
+          "chamfer": 1.3760763977188617e-05,
+          "track": 7.171517609094735e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 5,
+        "adam_update_count": 480
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022496187999422546
+  },
+  "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_94923da443f140b9b74d69e93da9b1ab_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 6,
+  "next_interval": 0,
+  "next_adam_update": 481,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 5,
+    "trained_intervals": 480,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 480,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.109230995178223,
+      "median": 10.323722839355469,
+      "max": 10.561208724975586,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.44234833121299744,
+      "median": 0.44234833121299744,
+      "max": 0.44234833121299744,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.09264087677002,
+      "median": 10.323159217834473,
+      "max": 10.553458213806152,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 24568.759765625,
+      "median": 30446.39453125,
+      "max": 38607.765625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 24164.5234375,
+      "median": 30429.23828125,
+      "max": 38309.69140625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.44234833121299744,
+      "median": 0.44234833121299744,
+      "max": 0.44234833121299744,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0006.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0006",
+  "executed_epochs": 6,
+  "score": null,
+  "best_score": 1.2665988262957248e-05,
+  "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_34c93e76fc784e8ba2279f6af9277d7f.npz",
+  "optimizer_file": "boundary_34c93e76fc784e8ba2279f6af9277d7f_optimizer.pt",
+  "arrays_sha256": "9b1a6d64f6990e10c32a48e1b9ee53757bff0e59cd22cff54fed861a63565daa",
+  "optimizer_sha256": "a90afab7fd6c1b1a530e4cac9341a431ad20d8bf12e4d4e80f03ce5fb587f468",
+  "stage": "adam",
+  "completed_passes": 6,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 576,
+  "adam_update_count": 576,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 7,
+    "consumed_count": 6,
+    "last_submitted_update": 576,
+    "last_consumed_update": 480,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 576,
+          "completed_passes": 6,
+          "next_interval": 0,
+          "trained_intervals": 576,
+          "snapshot": "pass_end_0006",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 480,
+  "pass_science": {
+    "completed_passes": 6,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 576,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 576,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.4352789296244737e-07,
+            "update_l2": 0.011697765439748764
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 5.819325110678619e-08,
+            "update_l2": 0.0007092654705047607
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 9.605307127458218e-08,
+            "update_l2": 0.005927939433604479
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.0701492758234963e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.0701492758234963e-05,
+          "observation_loss": 2.0701492758234963e-05,
+          "chamfer": 1.364517356705619e-05,
+          "track": 7.056318281684071e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 6,
+        "adam_update_count": 576
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022372540999640478
+  },
+  "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_34c93e76fc784e8ba2279f6af9277d7f_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 7,
+  "next_interval": 0,
+  "next_adam_update": 577,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 6,
+    "trained_intervals": 576,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 576,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.07371997833252,
+      "median": 10.323826789855957,
+      "max": 10.607667922973633,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4417252242565155,
+      "median": 0.4417252242565155,
+      "max": 0.4417252242565155,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.049039840698242,
+      "median": 10.323161125183105,
+      "max": 10.601351737976074,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 23711.607421875,
+      "median": 30449.55859375,
+      "max": 40443.76953125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 23133.564453125,
+      "median": 30429.296875,
+      "max": 40189.125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4417252242565155,
+      "median": 0.4417252242565155,
+      "max": 0.4417252242565155,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0007.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0007",
+  "executed_epochs": 7,
+  "score": null,
+  "best_score": 1.2583317501461503e-05,
+  "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_873c4a8400614bffa68fbf0a307c8b92.npz",
+  "optimizer_file": "boundary_873c4a8400614bffa68fbf0a307c8b92_optimizer.pt",
+  "arrays_sha256": "42671cbd063cfe1e7742791ff98f4ffc39ba4b3486e49c6a3f6eb106ac349619",
+  "optimizer_sha256": "3541bf9cde287d47378c5a5193f13540011c68a6555279ed7f383a9f6bd716d9",
+  "stage": "adam",
+  "completed_passes": 7,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 672,
+  "adam_update_count": 672,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 8,
+    "consumed_count": 7,
+    "last_submitted_update": 672,
+    "last_consumed_update": 576,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 672,
+          "completed_passes": 7,
+          "next_interval": 0,
+          "trained_intervals": 672,
+          "snapshot": "pass_end_0007",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 576,
+  "pass_science": {
+    "completed_passes": 7,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 672,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 672,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 2.2064625682105543e-07,
+            "update_l2": 0.011632736772298813
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.1320345549847843e-08,
+            "update_l2": 0.0007368624210357666
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 8.580254728940417e-08,
+            "update_l2": 0.005852695554494858
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.0482548279687762e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.0482548279687762e-05,
+          "observation_loss": 2.0482548279687762e-05,
+          "chamfer": 1.353024345007725e-05,
+          "track": 6.952304829610512e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 7,
+        "adam_update_count": 672
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022361657000146806
+  },
+  "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_873c4a8400614bffa68fbf0a307c8b92_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 8,
+  "next_interval": 0,
+  "next_adam_update": 673,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 7,
+    "trained_intervals": 672,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 672,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.04171371459961,
+      "median": 10.323942184448242,
+      "max": 10.653569221496582,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4410952627658844,
+      "median": 0.4410952627658844,
+      "max": 0.4410952627658844,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 10.00551700592041,
+      "median": 10.323161125183105,
+      "max": 10.649454116821289,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 22964.703125,
+      "median": 30453.072265625,
+      "max": 42343.4609375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 22148.322265625,
+      "median": 30429.296875,
+      "max": 42169.5703125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4410952627658844,
+      "median": 0.4410952627658844,
+      "max": 0.4410952627658844,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0008.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0008",
+  "executed_epochs": 8,
+  "score": null,
+  "best_score": 1.2486848587419294e-05,
+  "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_3f70e806e66640468b6edf90b5575961.npz",
+  "optimizer_file": "boundary_3f70e806e66640468b6edf90b5575961_optimizer.pt",
+  "arrays_sha256": "3b9ebea0fe624baf314524e1306b415f0e0e733cd6728811caa30e88fdab790f",
+  "optimizer_sha256": "04aac3c0275eef64f20056980dd5609f59d0e65a647f879f53b54652e1db826e",
+  "stage": "adam",
+  "completed_passes": 8,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 768,
+  "adam_update_count": 768,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 9,
+    "consumed_count": 8,
+    "last_submitted_update": 768,
+    "last_consumed_update": 672,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 768,
+          "completed_passes": 8,
+          "next_interval": 0,
+          "trained_intervals": 768,
+          "snapshot": "pass_end_0008",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 672,
+  "pass_science": {
+    "completed_passes": 8,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 768,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 768,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.9122397532100877e-07,
+            "update_l2": 0.01141921617090702
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.0601569044865755e-07,
+            "update_l2": 0.0007444024085998535
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 7.132357637829045e-08,
+            "update_l2": 0.005644460674375296
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 2.024768946284894e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 2.024768946284894e-05,
+          "observation_loss": 2.024768946284894e-05,
+          "chamfer": 1.3400021089182701e-05,
+          "track": 6.847668373666238e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 8,
+        "adam_update_count": 768
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022358717998940847
+  },
+  "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_3f70e806e66640468b6edf90b5575961_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 9,
+  "next_interval": 0,
+  "next_adam_update": 769,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 8,
+    "trained_intervals": 768,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 768,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.01753044128418,
+      "median": 10.324088096618652,
+      "max": 10.69884204864502,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4403688311576843,
+      "median": 0.4403688311576843,
+      "max": 0.4403688311576843,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.962265014648438,
+      "median": 10.323159217834473,
+      "max": 10.697648048400879,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 22416.00390625,
+      "median": 30457.515625,
+      "max": 44304.5234375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 21210.78515625,
+      "median": 30429.23828125,
+      "max": 44251.65625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4403688311576843,
+      "median": 0.4403688311576843,
+      "max": 0.4403688311576843,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0009.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0009",
+  "executed_epochs": 9,
+  "score": null,
+  "best_score": 1.2382864241544667e-05,
+  "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_8e8087cd444a47f880cbd8bf258080f2.npz",
+  "optimizer_file": "boundary_8e8087cd444a47f880cbd8bf258080f2_optimizer.pt",
+  "arrays_sha256": "377892ce079a2ac02897b500991ccd64990a0ab15b86a3adc80196a8eca8b1ab",
+  "optimizer_sha256": "b454322abd019f44de1dd9b2b83c6feb15eea9fd0f77f6d15a81169bb75366c9",
+  "stage": "adam",
+  "completed_passes": 9,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 864,
+  "adam_update_count": 864,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 10,
+    "consumed_count": 9,
+    "last_submitted_update": 864,
+    "last_consumed_update": 768,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 864,
+          "completed_passes": 9,
+          "next_interval": 0,
+          "trained_intervals": 864,
+          "snapshot": "pass_end_0009",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 768,
+  "pass_science": {
+    "completed_passes": 9,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 864,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 864,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.7991406764394924e-07,
+            "update_l2": 0.011216477490961552
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.574411664430954e-07,
+            "update_l2": 0.0007502734661102295
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 6.51237357374157e-08,
+            "update_l2": 0.005511005409061909
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.9980789147666655e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.9980789147666655e-05,
+          "observation_loss": 1.9980789147666655e-05,
+          "chamfer": 1.3245187801658176e-05,
+          "track": 6.735600891261129e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 9,
+        "adam_update_count": 864
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02246315800039156
+  },
+  "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_8e8087cd444a47f880cbd8bf258080f2_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 10,
+  "next_interval": 0,
+  "next_adam_update": 865,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 9,
+    "trained_intervals": 864,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 864,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 10.00087833404541,
+      "median": 10.324217796325684,
+      "max": 10.743337631225586,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4395795464515686,
+      "median": 0.4395795464515686,
+      "max": 0.4395795464515686,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.919219017028809,
+      "median": 10.323156356811523,
+      "max": 10.745832443237305,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 22045.822265625,
+      "median": 30461.466796875,
+      "max": 46320.39453125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 20317.1171875,
+      "median": 30429.150390625,
+      "max": 46436.09765625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4395795464515686,
+      "median": 0.4395795464515686,
+      "max": 0.4395795464515686,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0010.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0010",
+  "executed_epochs": 10,
+  "score": null,
+  "best_score": 1.2286055962817954e-05,
+  "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_13b312a4c0554005b37711c945c8c35e.npz",
+  "optimizer_file": "boundary_13b312a4c0554005b37711c945c8c35e_optimizer.pt",
+  "arrays_sha256": "2f044c9867febe1b80c194d3363c5c52ee819c7d9800fd92de786cb2c36da50f",
+  "optimizer_sha256": "3b5975a14fa0479a91c0c8c7c932fa0edc351650455f4b60b50c81ac7e1c60f1",
+  "stage": "adam",
+  "completed_passes": 10,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 960,
+  "adam_update_count": 960,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 11,
+    "consumed_count": 10,
+    "last_submitted_update": 960,
+    "last_consumed_update": 864,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 960,
+          "completed_passes": 10,
+          "next_interval": 0,
+          "trained_intervals": 960,
+          "snapshot": "pass_end_0010",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 864,
+  "pass_science": {
+    "completed_passes": 10,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 960,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 960,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.5741593983875646e-07,
+            "update_l2": 0.010842546820640564
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.244302865188729e-07,
+            "update_l2": 0.0007344484329223633
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 5.601489760920231e-08,
+            "update_l2": 0.005272415466606617
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.9693885406013578e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.9693885406013578e-05,
+          "observation_loss": 1.9693885406013578e-05,
+          "chamfer": 1.3074822163616773e-05,
+          "track": 6.619064151891507e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 10,
+        "adam_update_count": 960
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022702415999447112
+  },
+  "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_13b312a4c0554005b37711c945c8c35e_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 11,
+  "next_interval": 0,
+  "next_adam_update": 961,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 10,
+    "trained_intervals": 960,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 960,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.989767074584961,
+      "median": 10.324400901794434,
+      "max": 10.786664962768555,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4386647939682007,
+      "median": 0.4386647939682007,
+      "max": 0.4386647939682007,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.876609802246094,
+      "median": 10.323156356811523,
+      "max": 10.793778419494629,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 21802.21875,
+      "median": 30467.044921875,
+      "max": 48371.4453125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 19469.60546875,
+      "median": 30429.150390625,
+      "max": 48716.76171875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4386647939682007,
+      "median": 0.4386647939682007,
+      "max": 0.4386647939682007,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0011.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0011",
+  "executed_epochs": 11,
+  "score": null,
+  "best_score": 1.2187814422285706e-05,
+  "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_c98d7cb927c94fe097673f90cfe12006.npz",
+  "optimizer_file": "boundary_c98d7cb927c94fe097673f90cfe12006_optimizer.pt",
+  "arrays_sha256": "4a2e6a3ee66d3459a6af9cf8fa6dc770e20ce37b5afa1ba42dc0dae26d0f2987",
+  "optimizer_sha256": "a21e7d2b8f71635da2172c62692d7a6c0459c98fb67c3d997354e4609e4632b3",
+  "stage": "adam",
+  "completed_passes": 11,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1056,
+  "adam_update_count": 1056,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 12,
+    "consumed_count": 11,
+    "last_submitted_update": 1056,
+    "last_consumed_update": 960,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1056,
+          "completed_passes": 11,
+          "next_interval": 0,
+          "trained_intervals": 1056,
+          "snapshot": "pass_end_0011",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 960,
+  "pass_science": {
+    "completed_passes": 11,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1056,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1056,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.5768728189868852e-07,
+            "update_l2": 0.010511272586882114
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.5889537507973728e-07,
+            "update_l2": 0.0007230937480926514
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 5.667185121183138e-08,
+            "update_l2": 0.005049577914178371
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.9457091184449382e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.9457091184449382e-05,
+          "observation_loss": 1.9457091184449382e-05,
+          "chamfer": 1.2938704458065331e-05,
+          "track": 6.5183862716367e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 11,
+        "adam_update_count": 1056
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02265526500013948
+  },
+  "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_c98d7cb927c94fe097673f90cfe12006_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 12,
+  "next_interval": 0,
+  "next_adam_update": 1057,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 11,
+    "trained_intervals": 1056,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1056,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.960972785949707,
+      "median": 10.324575424194336,
+      "max": 10.829252243041992,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4378531575202942,
+      "median": 0.4378531575202942,
+      "max": 0.4378531575202942,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.834343910217285,
+      "median": 10.323155403137207,
+      "max": 10.841504096984863,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 21183.392578125,
+      "median": 30472.36328125,
+      "max": 50475.94921875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 18663.853515625,
+      "median": 30429.123046875,
+      "max": 51098.17578125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4378531575202942,
+      "median": 0.4378531575202942,
+      "max": 0.4378531575202942,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0012.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0012",
+  "executed_epochs": 12,
+  "score": null,
+  "best_score": 1.2095093145110999e-05,
+  "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_2a5a18055c6a439bb784ded34f813a1e.npz",
+  "optimizer_file": "boundary_2a5a18055c6a439bb784ded34f813a1e_optimizer.pt",
+  "arrays_sha256": "1a28cb7f9b3000bfdf8fa0c0a29cf8b10c931dc07a3bd1eeff63bc4ebdb9924d",
+  "optimizer_sha256": "63adb93291266109987884f46e5c8f1805be0253d0737f2836ff37f686d7e0be",
+  "stage": "adam",
+  "completed_passes": 12,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1152,
+  "adam_update_count": 1152,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 13,
+    "consumed_count": 12,
+    "last_submitted_update": 1152,
+    "last_consumed_update": 1056,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1152,
+          "completed_passes": 12,
+          "next_interval": 0,
+          "trained_intervals": 1152,
+          "snapshot": "pass_end_0012",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1056,
+  "pass_science": {
+    "completed_passes": 12,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1152,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1152,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.549057628835726e-07,
+            "update_l2": 0.010310152545571327
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.6756392540173692e-07,
+            "update_l2": 0.000728994607925415
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 5.434883476596042e-08,
+            "update_l2": 0.004879203159362078
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.9234332285122946e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.9234332285122946e-05,
+          "observation_loss": 1.9234332285122946e-05,
+          "chamfer": 1.2809675354219507e-05,
+          "track": 6.4246569309034385e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 12,
+        "adam_update_count": 1152
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022386857999663334
+  },
+  "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_2a5a18055c6a439bb784ded34f813a1e_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 13,
+  "next_interval": 0,
+  "next_adam_update": 1153,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 12,
+    "trained_intervals": 1152,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1152,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.924711227416992,
+      "median": 10.324699401855469,
+      "max": 10.870969772338867,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.43703317642211914,
+      "median": 0.43703317642211914,
+      "max": 0.43703317642211914,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.79235553741455,
+      "median": 10.323142051696777,
+      "max": 10.889098167419434,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 20429.009765625,
+      "median": 30476.140625,
+      "max": 52626.22265625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 17896.412109375,
+      "median": 30428.71484375,
+      "max": 53588.94921875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.43703317642211914,
+      "median": 0.43703317642211914,
+      "max": 0.43703317642211914,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0013.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0013",
+  "executed_epochs": 13,
+  "score": null,
+  "best_score": 1.2008685651210271e-05,
+  "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_a1d974aad3dd4633992b5b22eaf647c8.npz",
+  "optimizer_file": "boundary_a1d974aad3dd4633992b5b22eaf647c8_optimizer.pt",
+  "arrays_sha256": "c7f1d80f8cc7872fe5da08c7ccee10c58ab784cf4d70be01e71c27e42c9c2634",
+  "optimizer_sha256": "f66d03e7f23f8db371e1ff0cc3d810d782547f9c6aaa3706ecd287ccf764f2e1",
+  "stage": "adam",
+  "completed_passes": 13,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1248,
+  "adam_update_count": 1248,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 14,
+    "consumed_count": 13,
+    "last_submitted_update": 1248,
+    "last_consumed_update": 1152,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1248,
+          "completed_passes": 13,
+          "next_interval": 0,
+          "trained_intervals": 1248,
+          "snapshot": "pass_end_0013",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1152,
+  "pass_science": {
+    "completed_passes": 13,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1248,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1248,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.3769243878414272e-07,
+            "update_l2": 0.00986670982092619
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.9010680318842788e-07,
+            "update_l2": 0.0007171630859375
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 4.344469672901141e-08,
+            "update_l2": 0.004605631344020367
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.8969953089253977e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.8969953089253977e-05,
+          "observation_loss": 1.8969953089253977e-05,
+          "chamfer": 1.265203991351882e-05,
+          "track": 6.317913175735157e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 13,
+        "adam_update_count": 1248
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02284902300016256
+  },
+  "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_a1d974aad3dd4633992b5b22eaf647c8_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 14,
+  "next_interval": 0,
+  "next_adam_update": 1249,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 13,
+    "trained_intervals": 1248,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1248,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.888287544250488,
+      "median": 10.324827194213867,
+      "max": 10.911489486694336,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4363097846508026,
+      "median": 0.4363097846508026,
+      "max": 0.4363097846508026,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.750704765319824,
+      "median": 10.323137283325195,
+      "max": 10.9364652633667,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 19698.298828125,
+      "median": 30480.03515625,
+      "max": 54802.4140625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 17166.32421875,
+      "median": 30428.5703125,
+      "max": 56188.37890625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4363097846508026,
+      "median": 0.4363097846508026,
+      "max": 0.4363097846508026,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0014.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0014",
+  "executed_epochs": 14,
+  "score": null,
+  "best_score": 1.1926583766808108e-05,
+  "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_b5332c2a8bb1474da128dbd208cf9831.npz",
+  "optimizer_file": "boundary_b5332c2a8bb1474da128dbd208cf9831_optimizer.pt",
+  "arrays_sha256": "fea0d9d231dcd17d9ed5a11f67cbde389ba6ba7872c5bf0e006ee512f3a9e094",
+  "optimizer_sha256": "6c3fb42bb57d7ca3405f44899238cb1d6c4ce4a7b0edaac86a57c83833c36aa2",
+  "stage": "adam",
+  "completed_passes": 14,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1344,
+  "adam_update_count": 1344,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 15,
+    "consumed_count": 14,
+    "last_submitted_update": 1344,
+    "last_consumed_update": 1248,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1344,
+          "completed_passes": 14,
+          "next_interval": 0,
+          "trained_intervals": 1344,
+          "snapshot": "pass_end_0014",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1248,
+  "pass_science": {
+    "completed_passes": 14,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1344,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1344,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.3185584180064325e-07,
+            "update_l2": 0.009512768127024174
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.9343400481375284e-07,
+            "update_l2": 0.0007146596908569336
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 4.288708410626896e-08,
+            "update_l2": 0.004346609115600586
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.8758579244604334e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.8758579244604334e-05,
+          "observation_loss": 1.8758579244604334e-05,
+          "chamfer": 1.2529198102129158e-05,
+          "track": 6.229381142475177e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 14,
+        "adam_update_count": 1344
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02258903900110454
+  },
+  "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_b5332c2a8bb1474da128dbd208cf9831_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 15,
+  "next_interval": 0,
+  "next_adam_update": 1345,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 14,
+    "trained_intervals": 1344,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1344,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.852145195007324,
+      "median": 10.324965476989746,
+      "max": 10.95085334777832,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4354860782623291,
+      "median": 0.4354860782623291,
+      "max": 0.4354860782623291,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.709468841552734,
+      "median": 10.323158264160156,
+      "max": 10.983475685119629,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 18999.068359375,
+      "median": 30484.25,
+      "max": 57002.671875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 16472.849609375,
+      "median": 30429.208984375,
+      "max": 58892.89453125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4354860782623291,
+      "median": 0.4354860782623291,
+      "max": 0.4354860782623291,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0015.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0015",
+  "executed_epochs": 15,
+  "score": null,
+  "best_score": 1.1847751110849458e-05,
+  "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_7e8ee377fe484aa9a0fad2e6e7147399.npz",
+  "optimizer_file": "boundary_7e8ee377fe484aa9a0fad2e6e7147399_optimizer.pt",
+  "arrays_sha256": "380063631e6229ec0b0a7515634fa73080dbf4a269cfc09a53c5038dfc8aa5e7",
+  "optimizer_sha256": "ad79d19dae1b59b00976953b6602701b6060badb08ba40c6ca01ce78d6c9ab9d",
+  "stage": "adam",
+  "completed_passes": 15,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1440,
+  "adam_update_count": 1440,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 16,
+    "consumed_count": 15,
+    "last_submitted_update": 1440,
+    "last_consumed_update": 1344,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1440,
+          "completed_passes": 15,
+          "next_interval": 0,
+          "trained_intervals": 1440,
+          "snapshot": "pass_end_0015",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1344,
+  "pass_science": {
+    "completed_passes": 15,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1440,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1440,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.2704124685569695e-07,
+            "update_l2": 0.009138236753642559
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.616916591729023e-07,
+            "update_l2": 0.0007019639015197754
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 3.733479303491549e-08,
+            "update_l2": 0.004023055545985699
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.8581577023724094e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.8581577023724094e-05,
+          "observation_loss": 1.8581577023724094e-05,
+          "chamfer": 1.242820144398138e-05,
+          "track": 6.1533764892374165e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 15,
+        "adam_update_count": 1440
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.0223741739991965
+  },
+  "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_7e8ee377fe484aa9a0fad2e6e7147399_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 16,
+  "next_interval": 0,
+  "next_adam_update": 1441,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 15,
+    "trained_intervals": 1440,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1440,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.815727233886719,
+      "median": 10.325119972229004,
+      "max": 10.9925537109375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.43455493450164795,
+      "median": 0.43455493450164795,
+      "max": 0.43455493450164795,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.668679237365723,
+      "median": 10.323161125183105,
+      "max": 11.030059814453125,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 18319.607421875,
+      "median": 30488.9609375,
+      "max": 59429.95703125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 15814.4482421875,
+      "median": 30429.296875,
+      "max": 61701.2734375,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.43455493450164795,
+      "median": 0.43455493450164795,
+      "max": 0.43455493450164795,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0016.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0016",
+  "executed_epochs": 16,
+  "score": null,
+  "best_score": 1.1771748082386088e-05,
+  "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_459be75f58cb4a1d9813eb470fe5993a.npz",
+  "optimizer_file": "boundary_459be75f58cb4a1d9813eb470fe5993a_optimizer.pt",
+  "arrays_sha256": "e658c92434f4d57f2045a263318cef967ef8810ffd47e89f25ab0e4348f0c8e4",
+  "optimizer_sha256": "e39a78be7e096e062dc004aa084cbc1f2b8743c70a590e039e9d9d29770fff1a",
+  "stage": "adam",
+  "completed_passes": 16,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1536,
+  "adam_update_count": 1536,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 17,
+    "consumed_count": 16,
+    "last_submitted_update": 1536,
+    "last_consumed_update": 1440,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1536,
+          "completed_passes": 16,
+          "next_interval": 0,
+          "trained_intervals": 1536,
+          "snapshot": "pass_end_0016",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1440,
+  "pass_science": {
+    "completed_passes": 16,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1536,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1536,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.260557382920524e-07,
+            "update_l2": 0.0089934803545475
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.1521635201461322e-07,
+            "update_l2": 0.0007056295871734619
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 3.400824155619375e-08,
+            "update_l2": 0.00389487249776721
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.8400118278805166e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.8400118278805166e-05,
+          "observation_loss": 1.8400118278805166e-05,
+          "chamfer": 1.2322116162977181e-05,
+          "track": 6.078002570575336e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 16,
+        "adam_update_count": 1536
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.0223350060005032
+  },
+  "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_459be75f58cb4a1d9813eb470fe5993a_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 17,
+  "next_interval": 0,
+  "next_adam_update": 1537,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 16,
+    "trained_intervals": 1536,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1536,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.779228210449219,
+      "median": 10.32528305053711,
+      "max": 11.038823127746582,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4336402118206024,
+      "median": 0.4336402118206024,
+      "max": 0.4336402118206024,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.627779960632324,
+      "median": 10.323147773742676,
+      "max": 11.07646369934082,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 17663.015625,
+      "median": 30493.93359375,
+      "max": 62244.35546875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 15180.697265625,
+      "median": 30428.888671875,
+      "max": 64631.921875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4336402118206024,
+      "median": 0.4336402118206024,
+      "max": 0.4336402118206024,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0017.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0017",
+  "executed_epochs": 17,
+  "score": null,
+  "best_score": 1.1693137139445753e-05,
+  "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_ff8dc51bd85d476a870c3a01376b261e.npz",
+  "optimizer_file": "boundary_ff8dc51bd85d476a870c3a01376b261e_optimizer.pt",
+  "arrays_sha256": "68a774e7f1429973b45c409db66a5d442681419fc983b870437d961d8153b8ab",
+  "optimizer_sha256": "09585e8e739d02da9c9604ddf1352404501145130507b588ef14eeb09540fb90",
+  "stage": "adam",
+  "completed_passes": 17,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1632,
+  "adam_update_count": 1632,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 18,
+    "consumed_count": 17,
+    "last_submitted_update": 1632,
+    "last_consumed_update": 1536,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1632,
+          "completed_passes": 17,
+          "next_interval": 0,
+          "trained_intervals": 1632,
+          "snapshot": "pass_end_0017",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1536,
+  "pass_science": {
+    "completed_passes": 17,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1632,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1632,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.20913668411049e-07,
+            "update_l2": 0.008770192041993141
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.8455402539530041e-07,
+            "update_l2": 0.0007030367851257324
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 2.8594833167971956e-08,
+            "update_l2": 0.003689473494887352
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.816925941966474e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.816925941966474e-05,
+          "observation_loss": 1.816925941966474e-05,
+          "chamfer": 1.2181101737951394e-05,
+          "track": 5.9881572269659955e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 17,
+        "adam_update_count": 1632
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022476788999483688
+  },
+  "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_ff8dc51bd85d476a870c3a01376b261e_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 18,
+  "next_interval": 0,
+  "next_adam_update": 1633,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 17,
+    "trained_intervals": 1632,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1632,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.743011474609375,
+      "median": 10.325439453125,
+      "max": 11.08465576171875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4327588975429535,
+      "median": 0.4327588975429535,
+      "max": 0.4327588975429535,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.586962699890137,
+      "median": 10.323161125183105,
+      "max": 11.122652053833008,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 17034.763671875,
+      "median": 30498.703125,
+      "max": 65163.56640625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 14573.5380859375,
+      "median": 30429.296875,
+      "max": 67687.1796875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4327588975429535,
+      "median": 0.4327588975429535,
+      "max": 0.4327588975429535,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0018.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0018",
+  "executed_epochs": 18,
+  "score": null,
+  "best_score": 1.1598030139244505e-05,
+  "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_9740e022662f496ab6c704af77c7bf76.npz",
+  "optimizer_file": "boundary_9740e022662f496ab6c704af77c7bf76_optimizer.pt",
+  "arrays_sha256": "68813e850b2462761335f140d08d9c2f4103bae3fd41b2b2f88918823837bd82",
+  "optimizer_sha256": "7e6fbb99ba41941ef4083cc0d9a1b7669ecf1e21261b58f2459382732d2671b4",
+  "stage": "adam",
+  "completed_passes": 18,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1728,
+  "adam_update_count": 1728,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 19,
+    "consumed_count": 18,
+    "last_submitted_update": 1728,
+    "last_consumed_update": 1632,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1728,
+          "completed_passes": 18,
+          "next_interval": 0,
+          "trained_intervals": 1728,
+          "snapshot": "pass_end_0018",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1632,
+  "pass_science": {
+    "completed_passes": 18,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1728,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1728,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.1471999528112065e-07,
+            "update_l2": 0.008529877290129662
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.4445247959192784e-07,
+            "update_l2": 0.0007046163082122803
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 2.8064782497949636e-08,
+            "update_l2": 0.003498760750517249
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.7961494449991733e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.7961494449991733e-05,
+          "observation_loss": 1.7961494449991733e-05,
+          "chamfer": 1.2056189916620497e-05,
+          "track": 5.905304533371236e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 18,
+        "adam_update_count": 1728
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022504738000861835
+  },
+  "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_9740e022662f496ab6c704af77c7bf76_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 19,
+  "next_interval": 0,
+  "next_adam_update": 1729,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 18,
+    "trained_intervals": 1728,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1728,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.706820487976074,
+      "median": 10.325551986694336,
+      "max": 11.129688262939453,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4319765269756317,
+      "median": 0.4319765269756317,
+      "max": 0.4319765269756317,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.546537399291992,
+      "median": 10.323161125183105,
+      "max": 11.168395042419434,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 16429.28125,
+      "median": 30502.134765625,
+      "max": 68165.1171875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 13996.1474609375,
+      "median": 30429.296875,
+      "max": 70855.296875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4319765269756317,
+      "median": 0.4319765269756317,
+      "max": 0.4319765269756317,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0019.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0019",
+  "executed_epochs": 19,
+  "score": null,
+  "best_score": 1.1507091249048548e-05,
+  "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_733aa38fd2ec4e64894e9a85be505378.npz",
+  "optimizer_file": "boundary_733aa38fd2ec4e64894e9a85be505378_optimizer.pt",
+  "arrays_sha256": "1fd807efec7e7fb8aef6f8ef5e8dad074708def2945380de81cb18f83052bf38",
+  "optimizer_sha256": "c11679fe398715f12cfdcc130ce4423c77f9fef2ed489f44a2d4a5d29a4fbda6",
+  "stage": "adam",
+  "completed_passes": 19,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1824,
+  "adam_update_count": 1824,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 20,
+    "consumed_count": 19,
+    "last_submitted_update": 1824,
+    "last_consumed_update": 1728,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1824,
+          "completed_passes": 19,
+          "next_interval": 0,
+          "trained_intervals": 1824,
+          "snapshot": "pass_end_0019",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1728,
+  "pass_science": {
+    "completed_passes": 19,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1824,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1824,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.1148810585837055e-07,
+            "update_l2": 0.008304700255393982
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.089854262976587e-07,
+            "update_l2": 0.0006965100765228271
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 2.7659542212177257e-08,
+            "update_l2": 0.003287296975031495
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.7735595974954776e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.7735595974954776e-05,
+          "observation_loss": 1.7735595974954776e-05,
+          "chamfer": 1.1918731615878642e-05,
+          "track": 5.816864813823486e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 19,
+        "adam_update_count": 1824
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022268291999353096
+  },
+  "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_733aa38fd2ec4e64894e9a85be505378_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 20,
+  "next_interval": 0,
+  "next_adam_update": 1825,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 19,
+    "trained_intervals": 1824,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1824,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.67070484161377,
+      "median": 10.32567024230957,
+      "max": 11.173420906066895,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4313051104545593,
+      "median": 0.4313051104545593,
+      "max": 0.4313051104545593,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.506787300109863,
+      "median": 10.323161125183105,
+      "max": 11.213676452636719,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 15846.513671875,
+      "median": 30505.744140625,
+      "max": 71212.3046875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 13450.7119140625,
+      "median": 30429.296875,
+      "max": 74137.4765625,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4313051104545593,
+      "median": 0.4313051104545593,
+      "max": 0.4313051104545593,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0020.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0020",
+  "executed_epochs": 20,
+  "score": null,
+  "best_score": 1.1413769404574245e-05,
+  "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_6216bf25a08a416ca4916cc2c74fe737.npz",
+  "optimizer_file": "boundary_6216bf25a08a416ca4916cc2c74fe737_optimizer.pt",
+  "arrays_sha256": "a4fdcdf1a870d2ed4c98c3a7a772cf95c34f9f52d68363dd89da2d5b20704fdd",
+  "optimizer_sha256": "1f217d01e73940751f01da0d63b17c757f200235915f762efec29abd2907f225",
+  "stage": "adam",
+  "completed_passes": 20,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 1920,
+  "adam_update_count": 1920,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 21,
+    "consumed_count": 20,
+    "last_submitted_update": 1920,
+    "last_consumed_update": 1824,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 1920,
+          "completed_passes": 20,
+          "next_interval": 0,
+          "trained_intervals": 1920,
+          "snapshot": "pass_end_0020",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1824,
+  "pass_science": {
+    "completed_passes": 20,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 1920,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 1920,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 1.0497748093030168e-07,
+            "update_l2": 0.00811936054378748
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 1.87312707566889e-07,
+            "update_l2": 0.0006943643093109131
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 2.5473031683986846e-08,
+            "update_l2": 0.00311662326566875
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.751142190187238e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.751142190187238e-05,
+          "observation_loss": 1.751142190187238e-05,
+          "chamfer": 1.1781750799855217e-05,
+          "track": 5.729671102017164e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 20,
+        "adam_update_count": 1920
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022451696000644006
+  },
+  "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_6216bf25a08a416ca4916cc2c74fe737_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 21,
+  "next_interval": 0,
+  "next_adam_update": 1921,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 20,
+    "trained_intervals": 1920,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 1920,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.63502025604248,
+      "median": 10.32580280303955,
+      "max": 11.216479301452637,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.43027880787849426,
+      "median": 0.43027880787849426,
+      "max": 0.43027880787849426,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.467806816101074,
+      "median": 10.323161125183105,
+      "max": 11.258339881896973,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 15291.0078125,
+      "median": 30509.787109375,
+      "max": 74345.5625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 12936.4833984375,
+      "median": 30429.296875,
+      "max": 77523.7734375,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.43027880787849426,
+      "median": 0.43027880787849426,
+      "max": 0.43027880787849426,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0021.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0021",
+  "executed_epochs": 21,
+  "score": null,
+  "best_score": 1.1333953575369074e-05,
+  "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_e5bed66fb220429fb6b0427dbb6d8d4d.npz",
+  "optimizer_file": "boundary_e5bed66fb220429fb6b0427dbb6d8d4d_optimizer.pt",
+  "arrays_sha256": "70d223fd39de20e6e8c7d20cb15433a8f511f33c3b8aadb44453955f9ff54509",
+  "optimizer_sha256": "fd87a551076e374a6d8f5103db57aba18c3216d88565b30f9ef8c64eb1434de0",
+  "stage": "adam",
+  "completed_passes": 21,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2016,
+  "adam_update_count": 2016,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 22,
+    "consumed_count": 21,
+    "last_submitted_update": 2016,
+    "last_consumed_update": 1920,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2016,
+          "completed_passes": 21,
+          "next_interval": 0,
+          "trained_intervals": 2016,
+          "snapshot": "pass_end_0021",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 1920,
+  "pass_science": {
+    "completed_passes": 21,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2016,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2016,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 9.72698330770072e-08,
+            "update_l2": 0.007971708662807941
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 2.8030819976265775e-07,
+            "update_l2": 0.0006949305534362793
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.9565463915682813e-08,
+            "update_l2": 0.002977875992655754
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.7340853446512483e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.7340853446512483e-05,
+          "observation_loss": 1.7340853446512483e-05,
+          "chamfer": 1.1681972864607815e-05,
+          "track": 5.6588801271573175e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 21,
+        "adam_update_count": 2016
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022534247000294272
+  },
+  "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_e5bed66fb220429fb6b0427dbb6d8d4d_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 22,
+  "next_interval": 0,
+  "next_adam_update": 2017,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 21,
+    "trained_intervals": 2016,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2016,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.599810600280762,
+      "median": 10.325933456420898,
+      "max": 11.259073257446289,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.42902013659477234,
+      "median": 0.42902013659477234,
+      "max": 0.42902013659477234,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.429203033447266,
+      "median": 10.323161125183105,
+      "max": 11.302602767944336,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 14761.9853515625,
+      "median": 30513.7734375,
+      "max": 77580.6484375,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 12446.6025390625,
+      "median": 30429.296875,
+      "max": 81032.2734375,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.42902013659477234,
+      "median": 0.42902013659477234,
+      "max": 0.42902013659477234,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0022.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0022",
+  "executed_epochs": 22,
+  "score": null,
+  "best_score": 1.1261210410395961e-05,
+  "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_716e60e1edd04190a93d9c3af0690d2f.npz",
+  "optimizer_file": "boundary_716e60e1edd04190a93d9c3af0690d2f_optimizer.pt",
+  "arrays_sha256": "24bef368470f4e807c440dfe623339b931c6e64df27b64f4650302528434b50d",
+  "optimizer_sha256": "3f89afc395c013d7f00ef2d39ac9cca79e12abe0502b3d1ce6b3b89cd4429fe9",
+  "stage": "adam",
+  "completed_passes": 22,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2112,
+  "adam_update_count": 2112,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 23,
+    "consumed_count": 22,
+    "last_submitted_update": 2112,
+    "last_consumed_update": 2016,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2112,
+          "completed_passes": 22,
+          "next_interval": 0,
+          "trained_intervals": 2112,
+          "snapshot": "pass_end_0022",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2016,
+  "pass_science": {
+    "completed_passes": 22,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2112,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2112,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 9.329814787406576e-08,
+            "update_l2": 0.007990824058651924
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.494393183700595e-07,
+            "update_l2": 0.0007081329822540283
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.7517878703188217e-08,
+            "update_l2": 0.0029883019160479307
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.7185628166771494e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.7185628166771494e-05,
+          "observation_loss": 1.7185628166771494e-05,
+          "chamfer": 1.1592261216719635e-05,
+          "track": 5.593366950051859e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 22,
+        "adam_update_count": 2112
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022616460999415722
+  },
+  "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_716e60e1edd04190a93d9c3af0690d2f_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 23,
+  "next_interval": 0,
+  "next_adam_update": 2113,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 22,
+    "trained_intervals": 2112,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2112,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.565216064453125,
+      "median": 10.326050758361816,
+      "max": 11.301398277282715,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4278968274593353,
+      "median": 0.4278968274593353,
+      "max": 0.4278968274593353,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.390806198120117,
+      "median": 10.323159217834473,
+      "max": 11.346607208251953,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 14260.0341796875,
+      "median": 30517.353515625,
+      "max": 80934.7265625,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 11977.751953125,
+      "median": 30429.23828125,
+      "max": 84677.671875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4278968274593353,
+      "median": 0.4278968274593353,
+      "max": 0.4278968274593353,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0023.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0023",
+  "executed_epochs": 23,
+  "score": null,
+  "best_score": 1.118450663047573e-05,
+  "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_ae64f7381b9543b8aa2a7966cb551e4a.npz",
+  "optimizer_file": "boundary_ae64f7381b9543b8aa2a7966cb551e4a_optimizer.pt",
+  "arrays_sha256": "00bf661325f6466366b032b08f744c505075a73c4cf4fc52c7cb8f6665263a3f",
+  "optimizer_sha256": "9c70d5ff26539b47b0dbef24905b8ba04c888811fb959fca1693357dbe81c45c",
+  "stage": "adam",
+  "completed_passes": 23,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2208,
+  "adam_update_count": 2208,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 24,
+    "consumed_count": 23,
+    "last_submitted_update": 2208,
+    "last_consumed_update": 2112,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2208,
+          "completed_passes": 23,
+          "next_interval": 0,
+          "trained_intervals": 2208,
+          "snapshot": "pass_end_0023",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2112,
+  "pass_science": {
+    "completed_passes": 23,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2208,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2208,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.954983599096522e-08,
+            "update_l2": 0.007921530865132809
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.919819846487371e-07,
+            "update_l2": 0.0007082819938659668
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.6156233684228027e-08,
+            "update_l2": 0.002915310673415661
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.699719541647937e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.699719541647937e-05,
+          "observation_loss": 1.699719541647937e-05,
+          "chamfer": 1.1480015018605627e-05,
+          "track": 5.517180852621095e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 23,
+        "adam_update_count": 2208
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022312294000585098
+  },
+  "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_ae64f7381b9543b8aa2a7966cb551e4a_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 24,
+  "next_interval": 0,
+  "next_adam_update": 2209,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 23,
+    "trained_intervals": 2208,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2208,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.531133651733398,
+      "median": 10.326168060302734,
+      "max": 11.342836380004883,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4270038604736328,
+      "median": 0.4270038604736328,
+      "max": 0.4270038604736328,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.353154182434082,
+      "median": 10.323129653930664,
+      "max": 11.390059471130371,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 13782.20703125,
+      "median": 30520.931640625,
+      "max": 84358.96875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 11535.150390625,
+      "median": 30428.337890625,
+      "max": 88438.21875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4270038604736328,
+      "median": 0.4270038604736328,
+      "max": 0.4270038604736328,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0024.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0024",
+  "executed_epochs": 24,
+  "score": null,
+  "best_score": 1.111460599882245e-05,
+  "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_85b0062126e045c3951400509cc4d14a.npz",
+  "optimizer_file": "boundary_85b0062126e045c3951400509cc4d14a_optimizer.pt",
+  "arrays_sha256": "1d8280d7c022c35b95dc4939c579abb4ab74108b31d8926e2577fd95eb7f1fc9",
+  "optimizer_sha256": "16ed6a483ea3f9dacbc5d8d4c60ea999f0874b3aa6fb7a16b1225406ad7e4028",
+  "stage": "adam",
+  "completed_passes": 24,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2304,
+  "adam_update_count": 2304,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 25,
+    "consumed_count": 24,
+    "last_submitted_update": 2304,
+    "last_consumed_update": 2208,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2304,
+          "completed_passes": 24,
+          "next_interval": 0,
+          "trained_intervals": 2304,
+          "snapshot": "pass_end_0024",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2208,
+  "pass_science": {
+    "completed_passes": 24,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2304,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2304,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.677398000145331e-08,
+            "update_l2": 0.007716464344412088
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.224026272619085e-07,
+            "update_l2": 0.0007007122039794922
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.58077622103292e-08,
+            "update_l2": 0.0027311372105032206
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.6812067769933492e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.6812067769933492e-05,
+          "observation_loss": 1.6812067769933492e-05,
+          "chamfer": 1.1369980711606331e-05,
+          "track": 5.4420879678218625e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 24,
+        "adam_update_count": 2304
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022519431999171502
+  },
+  "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_85b0062126e045c3951400509cc4d14a_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 25,
+  "next_interval": 0,
+  "next_adam_update": 2305,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 24,
+    "trained_intervals": 2304,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2304,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.497342109680176,
+      "median": 10.32629680633545,
+      "max": 11.38289737701416,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.42611801624298096,
+      "median": 0.42611801624298096,
+      "max": 0.42611801624298096,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.316347122192383,
+      "median": 10.323137283325195,
+      "max": 11.43323802947998,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 13324.2646484375,
+      "median": 30524.861328125,
+      "max": 87807.078125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 11118.29296875,
+      "median": 30428.5703125,
+      "max": 92340.4921875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.42611801624298096,
+      "median": 0.42611801624298096,
+      "max": 0.42611801624298096,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0025.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0025",
+  "executed_epochs": 25,
+  "score": null,
+  "best_score": 1.1043065264004781e-05,
+  "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_4969a7f4bc5c453db40ba55e9f10d51a.npz",
+  "optimizer_file": "boundary_4969a7f4bc5c453db40ba55e9f10d51a_optimizer.pt",
+  "arrays_sha256": "d15356d289c346ff15224c7f5ae24f63466ea9243ccafbb7af1811094fb92ef9",
+  "optimizer_sha256": "181bbb03122ca612113e73992027cbee6fda6defa089876dc2c66acaf0d273b0",
+  "stage": "adam",
+  "completed_passes": 25,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2400,
+  "adam_update_count": 2400,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 26,
+    "consumed_count": 25,
+    "last_submitted_update": 2400,
+    "last_consumed_update": 2304,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2400,
+          "completed_passes": 25,
+          "next_interval": 0,
+          "trained_intervals": 2400,
+          "snapshot": "pass_end_0025",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2304,
+  "pass_science": {
+    "completed_passes": 25,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2400,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2400,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.527712225259165e-08,
+            "update_l2": 0.007500153034925461
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.257087541896908e-07,
+            "update_l2": 0.0006766915321350098
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.5176761181123766e-08,
+            "update_l2": 0.002617431804537773
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.6646146832499653e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.6646146832499653e-05,
+          "observation_loss": 1.6646146832499653e-05,
+          "chamfer": 1.1272672963968944e-05,
+          "track": 5.373473413783358e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 25,
+        "adam_update_count": 2400
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022296858000117936
+  },
+  "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_4969a7f4bc5c453db40ba55e9f10d51a_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 26,
+  "next_interval": 0,
+  "next_adam_update": 2401,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 25,
+    "trained_intervals": 2400,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2400,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.464044570922852,
+      "median": 10.326478004455566,
+      "max": 11.42156982421875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.424979567527771,
+      "median": 0.424979567527771,
+      "max": 0.424979567527771,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.280345916748047,
+      "median": 10.323143005371094,
+      "max": 11.475858688354492,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 12887.9052734375,
+      "median": 30530.392578125,
+      "max": 91269.3046875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 10725.140625,
+      "median": 30428.744140625,
+      "max": 96361.1796875,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.424979567527771,
+      "median": 0.424979567527771,
+      "max": 0.424979567527771,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 0
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0026.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0026",
+  "executed_epochs": 26,
+  "score": null,
+  "best_score": 1.0977646496712623e-05,
+  "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_85e5ac8982df434bb88cc1ce09f65922.npz",
+  "optimizer_file": "boundary_85e5ac8982df434bb88cc1ce09f65922_optimizer.pt",
+  "arrays_sha256": "705ac696e0dc4dfb3925cb989969ea840303c53ddd38fe67a6009e8622e2468f",
+  "optimizer_sha256": "1035cf4edf2a459496521a03bd23d28f31914b1096dcde9f955d71b3a8ddf605",
+  "stage": "adam",
+  "completed_passes": 26,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2496,
+  "adam_update_count": 2496,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 27,
+    "consumed_count": 26,
+    "last_submitted_update": 2496,
+    "last_consumed_update": 2400,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2496,
+          "completed_passes": 26,
+          "next_interval": 0,
+          "trained_intervals": 2496,
+          "snapshot": "pass_end_0026",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2400,
+  "pass_science": {
+    "completed_passes": 26,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2496,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2496,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.59911253314749e-08,
+            "update_l2": 0.007408414967358112
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.460869493210339e-07,
+            "update_l2": 0.0006735026836395264
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.6796342094949068e-08,
+            "update_l2": 0.002520277863368392
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.6487496395711787e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.6487496395711787e-05,
+          "observation_loss": 1.6487496395711787e-05,
+          "chamfer": 1.1180343790329061e-05,
+          "track": 5.3071530601300765e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 26,
+        "adam_update_count": 2496
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.022339718998409808
+  },
+  "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_85e5ac8982df434bb88cc1ce09f65922_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 27,
+  "next_interval": 0,
+  "next_adam_update": 2497,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 26,
+    "trained_intervals": 2496,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2496,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.430499076843262,
+      "median": 10.326621055603027,
+      "max": 11.45946216583252,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.4241386950016022,
+      "median": 0.4241386950016022,
+      "max": 0.4241386950016022,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.245258331298828,
+      "median": 10.323143005371094,
+      "max": 11.515759468078613,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 12462.744140625,
+      "median": 30534.76171875,
+      "max": 94794.078125,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 10355.34765625,
+      "median": 30428.744140625,
+      "max": 100000.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.4241386950016022,
+      "median": 0.4241386950016022,
+      "max": 0.4241386950016022,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 1
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}

processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/adam_epochs/pass_end_0027.json

@@ -0,0 +1,254 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "prepared_observation_source_cma_then_source_adam_v1",
+  "label": "pass_end_0027",
+  "executed_epochs": 27,
+  "score": null,
+  "best_score": 1.090503143548934e-05,
+  "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_3b9e6f4325bd4c0a99a02502e8c0682c.npz",
+  "optimizer_file": "boundary_3b9e6f4325bd4c0a99a02502e8c0682c_optimizer.pt",
+  "arrays_sha256": "7dabae37734ee2e8198317f167fdb84b47df932e1b5ba279cd7b341667193690",
+  "optimizer_sha256": "0ff185c70a9ac2049e8a0e0e6f63ecf79933a1b691402050f9f3b322aa02cc4c",
+  "stage": "adam",
+  "completed_passes": 27,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 2592,
+  "adam_update_count": 2592,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 28,
+    "consumed_count": 27,
+    "last_submitted_update": 2592,
+    "last_consumed_update": 2496,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 2592,
+          "completed_passes": 27,
+          "next_interval": 0,
+          "trained_intervals": 2592,
+          "snapshot": "pass_end_0027",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 2496,
+  "pass_science": {
+    "completed_passes": 27,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 2592,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 2592,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.010416666666666666,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 8.447102572972653e-08,
+            "update_l2": 0.007283023092895746
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 3.4594603448567796e-07,
+            "update_l2": 0.0006675422191619873
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.67954148366789e-08,
+            "update_l2": 0.002485235221683979
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_001-rope_episode_0_aligned_92_188",
+            "transition_index": 95,
+            "loss": 1.6309750208165497e-05,
+            "weight": 0.010416666666666666
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "observation_transition": {
+          "transition_index": 95,
+          "loss": 1.6309750208165497e-05,
+          "observation_loss": 1.6309750208165497e-05,
+          "chamfer": 1.1074926078435965e-05,
+          "track": 5.234823674982181e-06,
+          "acceleration": 0.0,
+          "visible_count": 1386,
+          "motion_valid_count": 1386,
+          "n_nodes": 1386,
+          "state_finite": true,
+          "frame_indices": [
+            187,
+            188
+          ],
+          "times_s": [
+            3.1666666666666665,
+            3.2
+          ],
+          "finite": true,
+          "frozen_visible_denominator": 1386,
+          "frozen_motion_denominator": 1386
+        },
+        "completed_passes": 27,
+        "adam_update_count": 2592
+      }
+    ],
+    "training_path_role": "pre-update transition losses; never checkpoint selection",
+    "wall_time_s": 0.02240926199920068
+  },
+  "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_3b9e6f4325bd4c0a99a02502e8c0682c_rng.pt",
+  "rng_sha256": "41f24d818e21d35b55fb8e299b8877337ad561b6437aa856ccc9b22822187044",
+  "resume_boundary": "detached_observation_interval",
+  "next_pass": 28,
+  "next_interval": 0,
+  "next_adam_update": 2593,
+  "schedule_id": "source_transition_v1",
+  "adam_schedule": "source_transition_v1",
+  "source_cursor": {
+    "next_interval": 0,
+    "completed_passes": 27,
+    "trained_intervals": 2592,
+    "source_timestamp_s": 3.2,
+    "next_source_timestamp_s": 0.0,
+    "update_budget": 48000
+  },
+  "trained_intervals": 2592,
+  "source_timestamp_s": 3.2,
+  "archive_axis": "optimizer_update",
+  "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
+  "collision_distance_m": null,
+  "parameter_summary": {
+    "log_object_edge_stiffness": {
+      "min": 9.39510726928711,
+      "median": 10.326767921447754,
+      "max": 11.496406555175781,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "raw_ground_friction": {
+      "min": 0.42347946763038635,
+      "median": 0.42347946763038635,
+      "max": 0.42347946763038635,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "raw_ground_restitution": {
+      "min": -0.013315116986632347,
+      "median": -0.013315116986632347,
+      "max": -0.013315116986632347,
+      "finite_count": 1,
+      "nonfinite_count": 0
+    },
+    "log_controller_edge_stiffness": {
+      "min": 9.21076488494873,
+      "median": 10.323135375976562,
+      "max": 11.515888214111328,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_object_edge_stiffness": {
+      "min": 12029.380859375,
+      "median": 30539.24609375,
+      "max": 98361.6796875,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "object_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 0.0,
+      "finite_count": 8695,
+      "nonfinite_count": 0
+    },
+    "effective_controller_edge_stiffness": {
+      "min": 10004.24609375,
+      "median": 30428.51171875,
+      "max": 100000.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_enabled": {
+      "min": 1.0,
+      "median": 1.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "controller_edge_cap_mask": {
+      "min": 0.0,
+      "median": 0.0,
+      "max": 1.0,
+      "finite_count": 1791,
+      "nonfinite_count": 0
+    },
+    "effective_ground_friction": {
+      "min": 0.42347946763038635,
+      "median": 0.42347946763038635,
+      "max": 0.42347946763038635,
+      "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": 0,
+    "raw_ground_restitution": 1,
+    "object_edge_stiffness": 0,
+    "controller_edge_stiffness": 1
+  },
+  "scored_object_model_file": "../cma_champion_model.json",
+  "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
+}