serialexperimentsleon commited on
Commit
d813544
·
verified ·
1 Parent(s): 84afafb

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo: payload batch 21/26

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0475.json +423 -0
  2. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0476.json +423 -0
  3. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0477.json +423 -0
  4. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0478.json +423 -0
  5. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0479.json +423 -0
  6. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0480.json +423 -0
  7. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0481.json +423 -0
  8. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0482.json +423 -0
  9. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0483.json +423 -0
  10. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0484.json +423 -0
  11. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0485.json +423 -0
  12. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0486.json +423 -0
  13. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0487.json +423 -0
  14. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0488.json +423 -0
  15. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0489.json +423 -0
  16. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0490.json +423 -0
  17. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0491.json +423 -0
  18. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0492.json +423 -0
  19. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0493.json +423 -0
  20. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0494.json +423 -0
  21. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0495.json +423 -0
  22. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0496.json +423 -0
  23. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0497.json +423 -0
  24. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0498.json +423 -0
  25. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0499.json +423 -0
  26. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0500.json +423 -0
  27. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0000.json +0 -0
  28. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0001.json +0 -0
  29. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0002.json +0 -0
  30. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0003.json +0 -0
  31. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0004.json +0 -0
  32. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0005.json +0 -0
  33. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0006.json +0 -0
  34. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0007.json +0 -0
  35. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0008.json +0 -0
  36. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0009.json +0 -0
  37. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0010.json +0 -0
  38. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0011.json +0 -0
  39. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0012.json +0 -0
  40. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0013.json +0 -0
  41. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0014.json +0 -0
  42. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0015.json +0 -0
  43. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0016.json +0 -0
  44. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0017.json +0 -0
  45. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0018.json +0 -0
  46. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0019.json +0 -0
  47. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0020.json +0 -0
  48. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0021.json +0 -0
  49. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0022.json +0 -0
  50. processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0023.json +0 -0
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0475.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0475",
5
+ "executed_epochs": 475,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b2783bfe9ad64b5a90299b2a2b4a49df.npz",
37
+ "optimizer_file": "boundary_b2783bfe9ad64b5a90299b2a2b4a49df_optimizer.pt",
38
+ "arrays_sha256": "33633a77c8cedf38ab60971771c73e5d437e14adfd1ef43082e257c79525e983",
39
+ "optimizer_sha256": "ae5538825f0b69d0ff5f54da13b301ead4fdf10c1b0c77b5c37eac34a16c7d46",
40
+ "stage": "adam",
41
+ "completed_passes": 475,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 75525,
45
+ "adam_update_count": 75525,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 476,
49
+ "consumed_count": 475,
50
+ "last_submitted_update": 75525,
51
+ "last_consumed_update": 75366,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 75525,
56
+ "completed_passes": 475,
57
+ "next_interval": 0,
58
+ "trained_intervals": 75525,
59
+ "snapshot": "pass_end_0475",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 475,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 75525,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 75525,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005047103622928262,
83
+ "update_l2": 0.18388395011425018
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004823906347155571,
91
+ "update_l2": 0.000864960253238678
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8446062313159928e-05,
95
+ "update_l2": 0.005219151731580496
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0744549673707939,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23094,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09185822308063507,
117
+ "ground_restitution/effective": 0.09185822308063507,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0744549673707939,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02303198352456093,
129
+ "ssim_fused": 0.9084421396255493,
130
+ "seg_l1": 0.02425244264304638,
131
+ "seg_ssim_ref": 0.9084406495094299,
132
+ "depth": 0.003979979620055107,
133
+ "rgb_loss": 0.03673716261982918,
134
+ "seg_loss": 0.037713825702667236,
135
+ "total": 0.0744549673707939
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.030495744198560715,
141
+ "ssim_fused": 0.8946996331214905,
142
+ "seg_l1": 0.027532629668712616,
143
+ "seg_ssim_ref": 0.8946987390518188,
144
+ "depth": 0.007333582565010033,
145
+ "rgb_loss": 0.045456670224666595,
146
+ "seg_loss": 0.04308635741472244,
147
+ "total": 0.08855036122195405,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007333582565010033,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004481604483412812
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03151038661599159,
174
+ "ssim_fused": 0.8797553181648254,
175
+ "seg_l1": 0.04023650288581848,
176
+ "seg_ssim_ref": 0.8797532320022583,
177
+ "depth": 0.004158776171961023,
178
+ "rgb_loss": 0.049257248640060425,
179
+ "seg_loss": 0.056238554418087006,
180
+ "total": 0.1054999618343194,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004158776171961023,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0027152562066832453
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014421637170016766,
207
+ "ssim_fused": 0.9335396885871887,
208
+ "seg_l1": 0.013161147944629192,
209
+ "seg_ssim_ref": 0.9335382580757141,
210
+ "depth": 0.002517063048869992,
211
+ "rgb_loss": 0.024829372763633728,
212
+ "seg_loss": 0.02382126823067665,
213
+ "total": 0.04865315805735925,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002517063048869992,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00217566113914777
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015700172632932663,
240
+ "ssim_fused": 0.9257739186286926,
241
+ "seg_l1": 0.0160794947296381,
242
+ "seg_ssim_ref": 0.9257723689079285,
243
+ "depth": 0.0019104966943793824,
244
+ "rgb_loss": 0.027405355125665665,
245
+ "seg_loss": 0.027709122747182846,
246
+ "total": 0.05511638836954289,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019104966943793824,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0014012605832682714
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 475,
281
+ "adam_update_count": 75525
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32305479096248746
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b2783bfe9ad64b5a90299b2a2b4a49df_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 476,
293
+ "next_interval": 0,
294
+ "next_adam_update": 75526,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 475,
300
+ "trained_intervals": 75525,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 75525,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.560751438140869,
333
+ "median": 5.187110900878906,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09099326282739639,
347
+ "median": 0.09099326282739639,
348
+ "max": 0.09099326282739639,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.10671231895685196,
354
+ "median": 4.3641462326049805,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010454200208187103,
361
+ "median": 178.9508056640625,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8987842202186584,
382
+ "median": 78.59883117675781,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09099326282739639,
410
+ "median": 0.09099326282739639,
411
+ "max": 0.09099326282739639,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23094,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0476.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0476",
5
+ "executed_epochs": 476,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_0313ee90c121443dbde32f61813f2297.npz",
37
+ "optimizer_file": "boundary_0313ee90c121443dbde32f61813f2297_optimizer.pt",
38
+ "arrays_sha256": "7f24323fef2acdcd0c62ba9c42edea966a17cbd518b7d8e14fe5d03644830db0",
39
+ "optimizer_sha256": "9e00f3c4fb5e8506c2164806c19844afb4e4d5cc53dad6684d7968ba55f359a6",
40
+ "stage": "adam",
41
+ "completed_passes": 476,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 75684,
45
+ "adam_update_count": 75684,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 477,
49
+ "consumed_count": 476,
50
+ "last_submitted_update": 75684,
51
+ "last_consumed_update": 75525,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 75684,
56
+ "completed_passes": 476,
57
+ "next_interval": 0,
58
+ "trained_intervals": 75684,
59
+ "snapshot": "pass_end_0476",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 476,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 75684,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 75684,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00034456304274499416,
83
+ "update_l2": 0.15734732151031494
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.00435988511890173,
91
+ "update_l2": 0.0008919164538383484
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8906515833805315e-05,
95
+ "update_l2": 0.004428079351782799
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07272196821340031,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23117,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.091068334877491,
117
+ "ground_restitution/effective": 0.091068334877491,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07272196821340031,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02247818559408188,
129
+ "ssim_fused": 0.9100937247276306,
130
+ "seg_l1": 0.023466143757104874,
131
+ "seg_ssim_ref": 0.9100923538208008,
132
+ "depth": 0.003715785524311003,
133
+ "rgb_loss": 0.03596380352973938,
134
+ "seg_loss": 0.03675445169210434,
135
+ "total": 0.07272196821340031
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029956495389342308,
141
+ "ssim_fused": 0.896016001701355,
142
+ "seg_l1": 0.026957204565405846,
143
+ "seg_ssim_ref": 0.8960151672363281,
144
+ "depth": 0.007060143015626947,
145
+ "rgb_loss": 0.04476199671626091,
146
+ "seg_loss": 0.04236273095011711,
147
+ "total": 0.08713178780939365,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007060143015626947,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004208164934029725
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03056308813393116,
174
+ "ssim_fused": 0.882742166519165,
175
+ "seg_l1": 0.03884030878543854,
176
+ "seg_ssim_ref": 0.8827402591705322,
177
+ "depth": 0.0037714761532651677,
178
+ "rgb_loss": 0.04790204018354416,
179
+ "seg_loss": 0.054524198174476624,
180
+ "total": 0.10243000983417405,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0037714761532651677,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002327956187987389
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013938036747276783,
207
+ "ssim_fused": 0.9349087476730347,
208
+ "seg_l1": 0.012439795769751072,
209
+ "seg_ssim_ref": 0.9349073767662048,
210
+ "depth": 0.002272276662280265,
211
+ "rgb_loss": 0.024168681353330612,
212
+ "seg_loss": 0.02297036163508892,
213
+ "total": 0.047141313402436665,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002272276662280265,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0019308747525580432
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015455121174454689,
240
+ "ssim_fused": 0.9267079830169678,
241
+ "seg_l1": 0.015627266839146614,
242
+ "seg_ssim_ref": 0.9267065525054932,
243
+ "depth": 0.0017592462660716325,
244
+ "rgb_loss": 0.027022499591112137,
245
+ "seg_loss": 0.02716050297021866,
246
+ "total": 0.05418476180759687,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017592462660716325,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012500101549605216
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 476,
281
+ "adam_update_count": 75684
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3261449309065938
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_0313ee90c121443dbde32f61813f2297_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 477,
293
+ "next_interval": 0,
294
+ "next_adam_update": 75685,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 476,
300
+ "trained_intervals": 75684,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 75684,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.563619613647461,
333
+ "median": 5.1832075119018555,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09017641842365265,
347
+ "median": 0.09017641842365265,
348
+ "max": 0.09017641842365265,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.10880591720342636,
354
+ "median": 4.360668182373047,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.01042425911873579,
361
+ "median": 178.25367736816406,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.896904468536377,
382
+ "median": 78.31237030029297,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09017641842365265,
410
+ "median": 0.09017641842365265,
411
+ "max": 0.09017641842365265,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23117,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0477.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0477",
5
+ "executed_epochs": 477,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_2476e74a01214cc08f04250c571c9fc4.npz",
37
+ "optimizer_file": "boundary_2476e74a01214cc08f04250c571c9fc4_optimizer.pt",
38
+ "arrays_sha256": "1cc6119a286ea01c1c3962dc0f08e1fbcb83543617c8674b4bfdadf8a7000663",
39
+ "optimizer_sha256": "9a257500c4249945d8730742904b1ad04c081f208f823d6e5db3b1851d92fd84",
40
+ "stage": "adam",
41
+ "completed_passes": 477,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 75843,
45
+ "adam_update_count": 75843,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 478,
49
+ "consumed_count": 477,
50
+ "last_submitted_update": 75843,
51
+ "last_consumed_update": 75684,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 75843,
56
+ "completed_passes": 477,
57
+ "next_interval": 0,
58
+ "trained_intervals": 75843,
59
+ "snapshot": "pass_end_0477",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 477,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 75843,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 75843,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003470736264716834,
83
+ "update_l2": 0.15863870084285736
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004648148547858,
91
+ "update_l2": 0.0009922683238983154
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.4126059795671608e-05,
95
+ "update_l2": 0.0030268486589193344
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07287729975396867,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23142,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08973114937543869,
117
+ "ground_restitution/effective": 0.08973114937543869,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07287729975396867,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022522419691085815,
129
+ "ssim_fused": 0.9099565744400024,
130
+ "seg_l1": 0.02354743890464306,
131
+ "seg_ssim_ref": 0.9099552631378174,
132
+ "depth": 0.0037809517430831,
133
+ "rgb_loss": 0.03602661192417145,
134
+ "seg_loss": 0.03684690594673157,
135
+ "total": 0.07287729975396867
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02998759038746357,
141
+ "ssim_fused": 0.8959334492683411,
142
+ "seg_l1": 0.027053002268075943,
143
+ "seg_ssim_ref": 0.8959326148033142,
144
+ "depth": 0.007133180701164528,
145
+ "rgb_loss": 0.04480338096618652,
146
+ "seg_loss": 0.04245588183403015,
147
+ "total": 0.08726639598091784,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007133180701164528,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004281202619567307
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03061668761074543,
174
+ "ssim_fused": 0.8824636340141296,
175
+ "seg_l1": 0.03893130645155907,
176
+ "seg_ssim_ref": 0.8824618458747864,
177
+ "depth": 0.0038565908876159742,
178
+ "rgb_loss": 0.04800062254071236,
179
+ "seg_loss": 0.05465267598628998,
180
+ "total": 0.10265715139259965,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0038565908876159742,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0024130709223381965
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014036770910024643,
207
+ "ssim_fused": 0.9345299005508423,
208
+ "seg_l1": 0.01259154174476862,
209
+ "seg_ssim_ref": 0.9345285296440125,
210
+ "depth": 0.0023295533527330392,
211
+ "rgb_loss": 0.024323437362909317,
212
+ "seg_loss": 0.023167528212070465,
213
+ "total": 0.047493295128332516,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0023295533527330392,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.001988151443010817
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015448633581399918,
240
+ "ssim_fused": 0.9268994331359863,
241
+ "seg_l1": 0.015613904222846031,
242
+ "seg_ssim_ref": 0.9268979430198669,
243
+ "depth": 0.0018044820308188594,
244
+ "rgb_loss": 0.02697901986539364,
245
+ "seg_loss": 0.027111534029245377,
246
+ "total": 0.054092356514024685,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018044820308188594,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012952459197077483
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 477,
281
+ "adam_update_count": 75843
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32713482808321714
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_2476e74a01214cc08f04250c571c9fc4_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 478,
293
+ "next_interval": 0,
294
+ "next_adam_update": 75844,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 477,
300
+ "trained_intervals": 75843,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 75843,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.5662689208984375,
333
+ "median": 5.179009437561035,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08873888105154037,
347
+ "median": 0.08873888105154037,
348
+ "max": 0.08873888105154037,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.12150992453098297,
354
+ "median": 4.334752082824707,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010396678000688553,
361
+ "median": 177.5068359375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8855822682380676,
382
+ "median": 76.31358337402344,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08873888105154037,
410
+ "median": 0.08873888105154037,
411
+ "max": 0.08873888105154037,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23142,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0478.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0478",
5
+ "executed_epochs": 478,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_42ceef5034724daa953a306c3da0a09a.npz",
37
+ "optimizer_file": "boundary_42ceef5034724daa953a306c3da0a09a_optimizer.pt",
38
+ "arrays_sha256": "fc1f0c1c5959c81faff8d122d7d606b0da7d7ec317aaa1400d67e3dd2e245669",
39
+ "optimizer_sha256": "6d03b238edbc53be23ef1f5f4bc9cba2732a31e3b7a8456c994efef73d04f523",
40
+ "stage": "adam",
41
+ "completed_passes": 478,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76002,
45
+ "adam_update_count": 76002,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 479,
49
+ "consumed_count": 478,
50
+ "last_submitted_update": 76002,
51
+ "last_consumed_update": 75843,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76002,
56
+ "completed_passes": 478,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76002,
59
+ "snapshot": "pass_end_0478",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 478,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76002,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76002,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0002497686364222318,
83
+ "update_l2": 0.15043726563453674
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0042645749635994434,
91
+ "update_l2": 0.0008732378482818604
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.7460406525060534e-05,
95
+ "update_l2": 0.0038172767963260412
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07168053710372078,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23171,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08059947192668915,
117
+ "ground_restitution/effective": 0.08059947192668915,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07168053710372078,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02213618904352188,
129
+ "ssim_fused": 0.9110485315322876,
130
+ "seg_l1": 0.022983938455581665,
131
+ "seg_ssim_ref": 0.9110471606254578,
132
+ "depth": 0.003571300812847265,
133
+ "rgb_loss": 0.03549925237894058,
134
+ "seg_loss": 0.03617771714925766,
135
+ "total": 0.07168053710372078
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029480725526809692,
141
+ "ssim_fused": 0.897376298904419,
142
+ "seg_l1": 0.02633969485759735,
143
+ "seg_ssim_ref": 0.8973754644393921,
144
+ "depth": 0.006884048772973214,
145
+ "rgb_loss": 0.044109322130680084,
146
+ "seg_loss": 0.0415966659784317,
147
+ "total": 0.08571287215788476,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006884048772973214,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004032070691375993
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.030018486082553864,
174
+ "ssim_fused": 0.8845592141151428,
175
+ "seg_l1": 0.03807180002331734,
176
+ "seg_ssim_ref": 0.8845573663711548,
177
+ "depth": 0.00358162200506492,
178
+ "rgb_loss": 0.047102946788072586,
179
+ "seg_loss": 0.05354596674442291,
180
+ "total": 0.10065249142921026,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.00358162200506492,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002138102039787142
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01365176122635603,
207
+ "ssim_fused": 0.9356371164321899,
208
+ "seg_l1": 0.012023339048027992,
209
+ "seg_ssim_ref": 0.9356356859207153,
210
+ "depth": 0.0021312117141637846,
211
+ "rgb_loss": 0.023793986067175865,
212
+ "seg_loss": 0.022491533309221268,
213
+ "total": 0.046287648725466146,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021312117141637846,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0017898098044415623
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015393787063658237,
240
+ "ssim_fused": 0.9266214370727539,
241
+ "seg_l1": 0.015500929206609726,
242
+ "seg_ssim_ref": 0.9266201853752136,
243
+ "depth": 0.0016883207591871416,
244
+ "rgb_loss": 0.026990743353962898,
245
+ "seg_loss": 0.027076706290245056,
246
+ "total": 0.054069136102321995,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0016883207591871416,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011790846480760307
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 478,
281
+ "adam_update_count": 76002
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3178790924139321
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_42ceef5034724daa953a306c3da0a09a_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 479,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76003,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 478,
300
+ "trained_intervals": 76002,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76002,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.569667339324951,
333
+ "median": 5.175227165222168,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07972623407840729,
347
+ "median": 0.07972623407840729,
348
+ "max": 0.07972623407840729,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1207515299320221,
354
+ "median": 4.338189125061035,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.01036140602082014,
361
+ "median": 176.83673095703125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8862541317939758,
382
+ "median": 76.57095336914062,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07972623407840729,
410
+ "median": 0.07972623407840729,
411
+ "max": 0.07972623407840729,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23172,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0479.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0479",
5
+ "executed_epochs": 479,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_359fc4899f5a4b3c894b7ab220771b79.npz",
37
+ "optimizer_file": "boundary_359fc4899f5a4b3c894b7ab220771b79_optimizer.pt",
38
+ "arrays_sha256": "3f8ff0f643a1fd09f80cec46729c94bb8436fa180776b84fe3592e8934a60b59",
39
+ "optimizer_sha256": "82725454e283e1efefbfcd2c9fe58c7adfecc4af783c05b3c38b6aa9925955d7",
40
+ "stage": "adam",
41
+ "completed_passes": 479,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76161,
45
+ "adam_update_count": 76161,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 480,
49
+ "consumed_count": 479,
50
+ "last_submitted_update": 76161,
51
+ "last_consumed_update": 76002,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76161,
56
+ "completed_passes": 479,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76161,
59
+ "snapshot": "pass_end_0479",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 479,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76161,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76161,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003497821744531393,
83
+ "update_l2": 0.1506461352109909
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0045289467088878155,
91
+ "update_l2": 0.0008696615695953369
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.598952258063946e-05,
95
+ "update_l2": 0.002361944643780589
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0721840715418563,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23207,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08376516401767731,
117
+ "ground_restitution/effective": 0.08376516401767731,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0721840715418563,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02231346257030964,
129
+ "ssim_fused": 0.9105099439620972,
130
+ "seg_l1": 0.023166706785559654,
131
+ "seg_ssim_ref": 0.9105086326599121,
132
+ "depth": 0.0036513815627185974,
133
+ "rgb_loss": 0.03574877604842186,
134
+ "seg_loss": 0.03643164038658142,
135
+ "total": 0.0721840715418563
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029728377237915993,
141
+ "ssim_fused": 0.8965870141983032,
142
+ "seg_l1": 0.02646636590361595,
143
+ "seg_ssim_ref": 0.8965861797332764,
144
+ "depth": 0.006989347120993641,
145
+ "rgb_loss": 0.04446529969573021,
146
+ "seg_loss": 0.04185585677623749,
147
+ "total": 0.086328149544379,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006989347120993641,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004137369039396419
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.030284101143479347,
174
+ "ssim_fused": 0.8838682770729065,
175
+ "seg_l1": 0.03845130279660225,
176
+ "seg_ssim_ref": 0.8838663101196289,
177
+ "depth": 0.0036970304009134674,
178
+ "rgb_loss": 0.0474536269903183,
179
+ "seg_loss": 0.0539877787232399,
180
+ "total": 0.10144510274395911,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0036970304009134674,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0022535104356356896
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01382331270724535,
207
+ "ssim_fused": 0.9350743889808655,
208
+ "seg_l1": 0.012226313352584839,
209
+ "seg_ssim_ref": 0.9350730776786804,
210
+ "depth": 0.0021962782859044254,
211
+ "rgb_loss": 0.024043772369623184,
212
+ "seg_loss": 0.022766435518860817,
213
+ "total": 0.046812406029415055,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021962782859044254,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018548763761822029
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015418062917888165,
240
+ "ssim_fused": 0.926510214805603,
241
+ "seg_l1": 0.015522845089435577,
242
+ "seg_ssim_ref": 0.926508903503418,
243
+ "depth": 0.0017228704430628566,
244
+ "rgb_loss": 0.027032407000660896,
245
+ "seg_loss": 0.027116496115922928,
246
+ "total": 0.054150627849672034,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017228704430628566,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012136343319517455
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 479,
281
+ "adam_update_count": 76161
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3377670580521226
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_359fc4899f5a4b3c894b7ab220771b79_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 480,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76162,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 479,
300
+ "trained_intervals": 76161,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76161,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.572001934051514,
333
+ "median": 5.170078277587891,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08289550244808197,
347
+ "median": 0.08289550244808197,
348
+ "max": 0.08289550244808197,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.12245118618011475,
354
+ "median": 4.347358703613281,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010337244719266891,
361
+ "median": 175.92860412597656,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8847491145133972,
382
+ "median": 77.28019714355469,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08289550244808197,
410
+ "median": 0.08289550244808197,
411
+ "max": 0.08289550244808197,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23207,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0480.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0480",
5
+ "executed_epochs": 480,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_41536ebebeab4b1485dd14587fe874a9.npz",
37
+ "optimizer_file": "boundary_41536ebebeab4b1485dd14587fe874a9_optimizer.pt",
38
+ "arrays_sha256": "9d00cbb753cf771b177d7546e496ea64a0a2d17c4add1e637a7efb81541d92ff",
39
+ "optimizer_sha256": "8a53686380a9147b01bbf6d096ad50321b2575e5ef543a7769a08933292cfd51",
40
+ "stage": "adam",
41
+ "completed_passes": 480,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76320,
45
+ "adam_update_count": 76320,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 481,
49
+ "consumed_count": 480,
50
+ "last_submitted_update": 76320,
51
+ "last_consumed_update": 76161,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76320,
56
+ "completed_passes": 480,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76320,
59
+ "snapshot": "pass_end_0480",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 480,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76320,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76320,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00013684823352377862,
83
+ "update_l2": 0.14694488048553467
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004232856910675764,
91
+ "update_l2": 0.0003117099404335022
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.2096154023311101e-05,
95
+ "update_l2": 0.0034332098439335823
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07105043091787239,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23245,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09929011017084122,
117
+ "ground_restitution/effective": 0.09929011017084122,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07105043091787239,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.021948866546154022,
129
+ "ssim_fused": 0.911650538444519,
130
+ "seg_l1": 0.022684643045067787,
131
+ "seg_ssim_ref": 0.9116491675376892,
132
+ "depth": 0.0035569907559971515,
133
+ "rgb_loss": 0.03522899001836777,
134
+ "seg_loss": 0.03581788390874863,
135
+ "total": 0.07105043091787239
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029385803267359734,
141
+ "ssim_fused": 0.8980850577354431,
142
+ "seg_l1": 0.02615579217672348,
143
+ "seg_ssim_ref": 0.898084282875061,
144
+ "depth": 0.006892570353343229,
145
+ "rgb_loss": 0.043891631066799164,
146
+ "seg_loss": 0.04130777716636658,
147
+ "total": 0.08520630080351908,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006892570353343229,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004040592271746007
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.029576517641544342,
174
+ "ssim_fused": 0.8859670758247375,
175
+ "seg_l1": 0.03753242641687393,
176
+ "seg_ssim_ref": 0.8859651684761047,
177
+ "depth": 0.003535346539594595,
178
+ "rgb_loss": 0.046467799693346024,
179
+ "seg_loss": 0.05283290892839432,
180
+ "total": 0.09930424769357024,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003535346539594595,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002091826574316817
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013662135228514671,
207
+ "ssim_fused": 0.9355360269546509,
208
+ "seg_l1": 0.01204635202884674,
209
+ "seg_ssim_ref": 0.9355347752571106,
210
+ "depth": 0.0021297152069968996,
211
+ "rgb_loss": 0.02382250316441059,
212
+ "seg_loss": 0.022530127316713333,
213
+ "total": 0.04635476205897607,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021297152069968996,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0017883132972746775
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015171002596616745,
240
+ "ssim_fused": 0.9270138740539551,
241
+ "seg_l1": 0.015004001557826996,
242
+ "seg_ssim_ref": 0.9270124435424805,
243
+ "depth": 0.0016703309240538831,
244
+ "rgb_loss": 0.02673402801156044,
245
+ "seg_loss": 0.026600712910294533,
246
+ "total": 0.053336413115424176,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0016703309240538831,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011610948129427722
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 480,
281
+ "adam_update_count": 76320
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3154127448797226
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_41536ebebeab4b1485dd14587fe874a9_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 481,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76321,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 480,
300
+ "trained_intervals": 76320,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76320,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.57343864440918,
333
+ "median": 5.162894248962402,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09897840023040771,
347
+ "median": 0.09897840023040771,
348
+ "max": 0.09897840023040771,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.0978054329752922,
354
+ "median": 4.39937686920166,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010322404094040394,
361
+ "median": 174.6692657470703,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.9068253636360168,
382
+ "median": 81.4009780883789,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09897840023040771,
410
+ "median": 0.09897840023040771,
411
+ "max": 0.09897840023040771,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23245,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0481.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0481",
5
+ "executed_epochs": 481,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_3aabdc62d4ff440d891308aa6452bb61.npz",
37
+ "optimizer_file": "boundary_3aabdc62d4ff440d891308aa6452bb61_optimizer.pt",
38
+ "arrays_sha256": "8fc4e5c47821a06784e2a701682075c947a449f438f41a0aa11efe20ba4c1933",
39
+ "optimizer_sha256": "257f575c0013820939339cba0b12a23d9c04f0e0334f89551cc8293e93662455",
40
+ "stage": "adam",
41
+ "completed_passes": 481,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76479,
45
+ "adam_update_count": 76479,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 482,
49
+ "consumed_count": 481,
50
+ "last_submitted_update": 76479,
51
+ "last_consumed_update": 76320,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76479,
56
+ "completed_passes": 481,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76479,
59
+ "snapshot": "pass_end_0481",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 481,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76479,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76479,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00023110742040444165,
83
+ "update_l2": 0.15282230079174042
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0017439741641283035,
91
+ "update_l2": 2.206861972808838e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.1392664823215455e-05,
95
+ "update_l2": 0.003874304471537471
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.06810844743683842,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23272,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09868571162223816,
117
+ "ground_restitution/effective": 0.09868571162223816,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.06810844743683842,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02118268981575966,
129
+ "ssim_fused": 0.9146811962127686,
130
+ "seg_l1": 0.021289201453328133,
131
+ "seg_ssim_ref": 0.9146798849105835,
132
+ "depth": 0.0031595869353061422,
133
+ "rgb_loss": 0.034009914845228195,
134
+ "seg_loss": 0.03409537300467491,
135
+ "total": 0.06810844743683842
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029229583218693733,
141
+ "ssim_fused": 0.899096667766571,
142
+ "seg_l1": 0.02517767995595932,
143
+ "seg_ssim_ref": 0.8990959525108337,
144
+ "depth": 0.006364137217217617,
145
+ "rgb_loss": 0.0435643345117569,
146
+ "seg_loss": 0.04032295197248459,
147
+ "total": 0.0838936506214587,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006364137217217617,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003512159135620394
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.028397295624017715,
174
+ "ssim_fused": 0.8926140069961548,
175
+ "seg_l1": 0.03593157231807709,
176
+ "seg_ssim_ref": 0.8926123976707458,
177
+ "depth": 0.0030905505213881324,
178
+ "rgb_loss": 0.044195033609867096,
179
+ "seg_loss": 0.05022277683019638,
180
+ "total": 0.09442090099058487,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0030905505213881324,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0016470305561103544
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.012659523636102676,
207
+ "ssim_fused": 0.9384496212005615,
208
+ "seg_l1": 0.01044287346303463,
209
+ "seg_ssim_ref": 0.9384483695030212,
210
+ "depth": 0.00173544845616626,
211
+ "rgb_loss": 0.022437695413827896,
212
+ "seg_loss": 0.020664624869823456,
213
+ "total": 0.043104055732107516,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00173544845616626,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0013940465464440377
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.014444349333643913,
240
+ "ssim_fused": 0.9285644292831421,
241
+ "seg_l1": 0.01360467541962862,
242
+ "seg_ssim_ref": 0.9285629987716675,
243
+ "depth": 0.0014482115464525605,
244
+ "rgb_loss": 0.025842593982815742,
245
+ "seg_loss": 0.02517114020884037,
246
+ "total": 0.05101518240320257,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0014482115464525605,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0009389754353414495
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 481,
281
+ "adam_update_count": 76479
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31390404189005494
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_3aabdc62d4ff440d891308aa6452bb61_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 482,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76480,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 481,
300
+ "trained_intervals": 76479,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76479,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.574599266052246,
333
+ "median": 5.1580400466918945,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09866364300251007,
347
+ "median": 0.09866364300251007,
348
+ "max": 0.09866364300251007,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.0943281352519989,
354
+ "median": 4.368716239929199,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010310430079698563,
361
+ "median": 173.823486328125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.9099841713905334,
382
+ "median": 78.95458984375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09866364300251007,
410
+ "median": 0.09866364300251007,
411
+ "max": 0.09866364300251007,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23272,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0482.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0482",
5
+ "executed_epochs": 482,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_76f6047d69f7489db6015d5d32001a54.npz",
37
+ "optimizer_file": "boundary_76f6047d69f7489db6015d5d32001a54_optimizer.pt",
38
+ "arrays_sha256": "bcecdc294949ba86ab118fbeb30b2aff857793ee171fba6fd74e522ae8c3dafa",
39
+ "optimizer_sha256": "40c459152e83ceee30fa0425541df45aa411334a5f1c2edf6969f73f16cdc732",
40
+ "stage": "adam",
41
+ "completed_passes": 482,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76638,
45
+ "adam_update_count": 76638,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 483,
49
+ "consumed_count": 482,
50
+ "last_submitted_update": 76638,
51
+ "last_consumed_update": 76479,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76638,
56
+ "completed_passes": 482,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76638,
59
+ "snapshot": "pass_end_0482",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 482,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76638,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76638,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00019527034601196647,
83
+ "update_l2": 0.1542113721370697
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0030630880501121283,
91
+ "update_l2": 0.00028417259454727173
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.922593219205737e-05,
95
+ "update_l2": 0.0023657232522964478
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07032870186670745,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23302,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09968074411153793,
117
+ "ground_restitution/effective": 0.09968074411153793,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07032870186670745,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.021768106147646904,
129
+ "ssim_fused": 0.9125540256500244,
130
+ "seg_l1": 0.022415155544877052,
131
+ "seg_ssim_ref": 0.9125526547431946,
132
+ "depth": 0.0034166704031309606,
133
+ "rgb_loss": 0.034903690218925476,
134
+ "seg_loss": 0.035421594977378845,
135
+ "total": 0.07032870186670745
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02949524112045765,
141
+ "ssim_fused": 0.8980408906936646,
142
+ "seg_l1": 0.026034152135252953,
143
+ "seg_ssim_ref": 0.8980401754379272,
144
+ "depth": 0.006650909413405072,
145
+ "rgb_loss": 0.04398801550269127,
146
+ "seg_loss": 0.04121928662061691,
147
+ "total": 0.08521394930743129,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006650909413405072,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003798931331807851
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.02869587577879429,
174
+ "ssim_fused": 0.8904369473457336,
175
+ "seg_l1": 0.03630983829498291,
176
+ "seg_ssim_ref": 0.8904350399971008,
177
+ "depth": 0.003243027992628566,
178
+ "rgb_loss": 0.0448693111538887,
179
+ "seg_loss": 0.05096086114645004,
180
+ "total": 0.09583341532833137,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003243027992628566,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0017995080273507885
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013428978621959686,
207
+ "ssim_fused": 0.9359754920005798,
208
+ "seg_l1": 0.01175844669342041,
209
+ "seg_ssim_ref": 0.9359741806983948,
210
+ "depth": 0.0021043249307888456,
211
+ "rgb_loss": 0.023548085242509842,
212
+ "seg_loss": 0.022211920469999313,
213
+ "total": 0.04576211003743994,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021043249307888456,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0017629230210666233
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01545233279466629,
240
+ "ssim_fused": 0.9257625937461853,
241
+ "seg_l1": 0.015558184124529362,
242
+ "seg_ssim_ref": 0.9257611632347107,
243
+ "depth": 0.001668419275701356,
244
+ "rgb_loss": 0.02720934897661209,
245
+ "seg_loss": 0.02729431539773941,
246
+ "total": 0.0545053327936272,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.001668419275701356,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011591831645902451
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 482,
281
+ "adam_update_count": 76638
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3177984971553087
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_76f6047d69f7489db6015d5d32001a54_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 483,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76639,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 482,
300
+ "trained_intervals": 76638,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76638,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.578275680541992,
333
+ "median": 5.154640197753906,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09939657151699066,
347
+ "median": 0.09939657151699066,
348
+ "max": 0.09939657151699066,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.11013513058423996,
354
+ "median": 4.3250908851623535,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010272594168782234,
361
+ "median": 173.23342895507812,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8957130908966064,
382
+ "median": 75.57254028320312,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09939657151699066,
410
+ "median": 0.09939657151699066,
411
+ "max": 0.09939657151699066,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23302,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0483.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0483",
5
+ "executed_epochs": 483,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d86bf44577af42b08eeee8564f2fbff1.npz",
37
+ "optimizer_file": "boundary_d86bf44577af42b08eeee8564f2fbff1_optimizer.pt",
38
+ "arrays_sha256": "7664a2a2e19fe58b49e12b8d8b2251e5c23e13fcf2cd6da5eba119c65addd441",
39
+ "optimizer_sha256": "7b58582e0066a5c0e98a382f349474b0bd7bf109433417b58e514ccc4788658f",
40
+ "stage": "adam",
41
+ "completed_passes": 483,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76797,
45
+ "adam_update_count": 76797,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 484,
49
+ "consumed_count": 483,
50
+ "last_submitted_update": 76797,
51
+ "last_consumed_update": 76638,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76797,
56
+ "completed_passes": 483,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76797,
59
+ "snapshot": "pass_end_0483",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 483,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76797,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76797,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00020767434034496546,
83
+ "update_l2": 0.16027916967868805
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0034230006858706474,
91
+ "update_l2": 0.0004583299160003662
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.6902231184067205e-05,
95
+ "update_l2": 0.0033103006426244974
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07081713646899578,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23329,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.09696778655052185,
117
+ "ground_restitution/effective": 0.09696778655052185,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07081713646899578,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02189653366804123,
129
+ "ssim_fused": 0.9121054410934448,
130
+ "seg_l1": 0.02267293632030487,
131
+ "seg_ssim_ref": 0.912104070186615,
132
+ "depth": 0.003454538692205064,
133
+ "rgb_loss": 0.03509614244103432,
134
+ "seg_loss": 0.03571753948926926,
135
+ "total": 0.07081713646899578
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029580773785710335,
141
+ "ssim_fused": 0.8974981904029846,
142
+ "seg_l1": 0.026423443108797073,
143
+ "seg_ssim_ref": 0.8974973559379578,
144
+ "depth": 0.006710543308984359,
145
+ "rgb_loss": 0.044164981693029404,
146
+ "seg_loss": 0.041639283299446106,
147
+ "total": 0.0858109792610748,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006710543308984359,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003858565227387137
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.02909667417407036,
174
+ "ssim_fused": 0.8886479139328003,
175
+ "seg_l1": 0.03686993196606636,
176
+ "seg_ssim_ref": 0.8886460065841675,
177
+ "depth": 0.0033202785060852244,
178
+ "rgb_loss": 0.04554775729775429,
179
+ "seg_loss": 0.05176674574613571,
180
+ "total": 0.09731782704768638,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0033202785060852244,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0018767585408074469
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013465632684528828,
207
+ "ssim_fused": 0.9362717270851135,
208
+ "seg_l1": 0.011847829446196556,
209
+ "seg_ssim_ref": 0.9362704157829285,
210
+ "depth": 0.002117860321525691,
211
+ "rgb_loss": 0.023518161848187447,
212
+ "seg_loss": 0.02222418040037155,
213
+ "total": 0.045744458246235374,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002117860321525691,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0017764584118034686
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015443050302565098,
240
+ "ssim_fused": 0.9260038733482361,
241
+ "seg_l1": 0.015550539828836918,
242
+ "seg_ssim_ref": 0.9260024428367615,
243
+ "depth": 0.0016694726322249818,
244
+ "rgb_loss": 0.02715366519987583,
245
+ "seg_loss": 0.02723994478583336,
246
+ "total": 0.05439528132098657,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0016694726322249818,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011602365211138708
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 483,
281
+ "adam_update_count": 76797
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31869263807311654
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d86bf44577af42b08eeee8564f2fbff1_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 484,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76798,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 483,
300
+ "trained_intervals": 76797,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76797,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.5819091796875,
333
+ "median": 5.151366710662842,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.09650945663452148,
347
+ "median": 0.09650945663452148,
348
+ "max": 0.09650945663452148,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.12137361615896225,
354
+ "median": 4.303360939025879,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010235336609184742,
361
+ "median": 172.6673126220703,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8857030272483826,
382
+ "median": 73.95111083984375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.09650945663452148,
410
+ "median": 0.09650945663452148,
411
+ "max": 0.09650945663452148,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23329,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0484.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0484",
5
+ "executed_epochs": 484,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_b8c1b060543046a5af0246137f990f44.npz",
37
+ "optimizer_file": "boundary_b8c1b060543046a5af0246137f990f44_optimizer.pt",
38
+ "arrays_sha256": "526126f9a3247e276bb9a675d428e87f7cd39b12cef755b0fa0301e5778ae012",
39
+ "optimizer_sha256": "eb27174132cf875db82b652f92c37c653113f1ac09bcb990bd612a759e5e2af6",
40
+ "stage": "adam",
41
+ "completed_passes": 484,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 76956,
45
+ "adam_update_count": 76956,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 485,
49
+ "consumed_count": 484,
50
+ "last_submitted_update": 76956,
51
+ "last_consumed_update": 76797,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 76956,
56
+ "completed_passes": 484,
57
+ "next_interval": 0,
58
+ "trained_intervals": 76956,
59
+ "snapshot": "pass_end_0484",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 484,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 76956,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 76956,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00021463644225150347,
83
+ "update_l2": 0.1465337723493576
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.0033004097640514374,
91
+ "update_l2": 0.0007070749998092651
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.9866438378812745e-05,
95
+ "update_l2": 0.001867421786300838
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07148772986385617,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23363,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08521448075771332,
117
+ "ground_restitution/effective": 0.08521448075771332,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07148772986385617,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022043965756893158,
129
+ "ssim_fused": 0.9112460613250732,
130
+ "seg_l1": 0.02293412946164608,
131
+ "seg_ssim_ref": 0.911244809627533,
132
+ "depth": 0.003436075184669753,
133
+ "rgb_loss": 0.03538595139980316,
134
+ "seg_loss": 0.03609834238886833,
135
+ "total": 0.07148772986385617
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02953907661139965,
141
+ "ssim_fused": 0.8972110748291016,
142
+ "seg_l1": 0.02642715536057949,
143
+ "seg_ssim_ref": 0.8972104787826538,
144
+ "depth": 0.0066409210196286175,
145
+ "rgb_loss": 0.04418904706835747,
146
+ "seg_loss": 0.04169962927699089,
147
+ "total": 0.08589531726636798,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.0066409210196286175,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003788942938031396
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.029495293274521828,
174
+ "ssim_fused": 0.886238157749176,
175
+ "seg_l1": 0.03745582699775696,
176
+ "seg_ssim_ref": 0.8862363696098328,
177
+ "depth": 0.003307843357333655,
178
+ "rgb_loss": 0.04634860157966614,
179
+ "seg_loss": 0.052717387676239014,
180
+ "total": 0.09906929709926249,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003307843357333655,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0018643233920558769
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013464728370308876,
207
+ "ssim_fused": 0.9361346364021301,
208
+ "seg_l1": 0.011905323714017868,
209
+ "seg_ssim_ref": 0.9361332654953003,
210
+ "depth": 0.0020773420645922628,
211
+ "rgb_loss": 0.023544855415821075,
212
+ "seg_loss": 0.022297605872154236,
213
+ "total": 0.045844538630039906,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0020773420645922628,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0017359401548700405
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015676770359277725,
240
+ "ssim_fused": 0.9254005551338196,
241
+ "seg_l1": 0.015948211774230003,
242
+ "seg_ssim_ref": 0.925399124622345,
243
+ "depth": 0.0017181942971244762,
244
+ "rgb_loss": 0.027461305260658264,
245
+ "seg_loss": 0.02767874486744404,
246
+ "total": 0.05514176645975428,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017181942971244762,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001208958186013365
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 484,
281
+ "adam_update_count": 76956
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3173915110528469
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_b8c1b060543046a5af0246137f990f44_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 485,
293
+ "next_interval": 0,
294
+ "next_adam_update": 76957,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 484,
300
+ "trained_intervals": 76956,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 76956,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.585723400115967,
333
+ "median": 5.147961616516113,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08450740575790405,
347
+ "median": 0.08450740575790405,
348
+ "max": 0.08450740575790405,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1256520003080368,
354
+ "median": 4.313153266906738,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010196371003985405,
361
+ "median": 172.08041381835938,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8819217085838318,
382
+ "median": 74.67668914794922,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08450740575790405,
410
+ "median": 0.08450740575790405,
411
+ "max": 0.08450740575790405,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23364,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0485.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0485",
5
+ "executed_epochs": 485,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_7b2a19f6639a4d01b3b3d7bbe8d29a61.npz",
37
+ "optimizer_file": "boundary_7b2a19f6639a4d01b3b3d7bbe8d29a61_optimizer.pt",
38
+ "arrays_sha256": "5135c640c2f6c04e96f98958e0b35657b7efc0a702f3e5e3a3a532d59b81c386",
39
+ "optimizer_sha256": "79b97f3141f95f67201ebbcaa32bf069ec49c25815fa900a93d65f3e5e02fba2",
40
+ "stage": "adam",
41
+ "completed_passes": 485,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77115,
45
+ "adam_update_count": 77115,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 486,
49
+ "consumed_count": 485,
50
+ "last_submitted_update": 77115,
51
+ "last_consumed_update": 76956,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77115,
56
+ "completed_passes": 485,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77115,
59
+ "snapshot": "pass_end_0485",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 485,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77115,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77115,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00038859914639033377,
83
+ "update_l2": 0.1525442749261856
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004431271459907293,
91
+ "update_l2": 0.000725865364074707
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3940254575572908e-05,
95
+ "update_l2": 0.0032338302116841078
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.071804166761924,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23386,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07784382998943329,
117
+ "ground_restitution/effective": 0.07784382998943329,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.071804166761924,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022160552442073822,
129
+ "ssim_fused": 0.9110614061355591,
130
+ "seg_l1": 0.023120557889342308,
131
+ "seg_ssim_ref": 0.9110601544380188,
132
+ "depth": 0.0035837197196136625,
133
+ "rgb_loss": 0.0355161651968956,
134
+ "seg_loss": 0.036284416913986206,
135
+ "total": 0.071804166761924
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029217159375548363,
141
+ "ssim_fused": 0.8983308672904968,
142
+ "seg_l1": 0.02613157033920288,
143
+ "seg_ssim_ref": 0.8983302712440491,
144
+ "depth": 0.006791852747389348,
145
+ "rgb_loss": 0.043707557022571564,
146
+ "seg_loss": 0.04123920202255249,
147
+ "total": 0.08495355089787145,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006791852747389348,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003939874665792126
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03011401928961277,
174
+ "ssim_fused": 0.8844115138053894,
175
+ "seg_l1": 0.038209423422813416,
176
+ "seg_ssim_ref": 0.8844097256660461,
177
+ "depth": 0.0035972779983864164,
178
+ "rgb_loss": 0.047208912670612335,
179
+ "seg_loss": 0.053685594350099564,
180
+ "total": 0.10089810802400058,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0035972779983864164,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0021537580331086386
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013693290762603283,
207
+ "ssim_fused": 0.9353949427604675,
208
+ "seg_l1": 0.012166487984359264,
209
+ "seg_ssim_ref": 0.9353936910629272,
210
+ "depth": 0.0021908493822668158,
211
+ "rgb_loss": 0.02387564443051815,
212
+ "seg_loss": 0.022654451429843903,
213
+ "total": 0.04653228857238947,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021908493822668158,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018494474725445937
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01561774592846632,
240
+ "ssim_fused": 0.9261083006858826,
241
+ "seg_l1": 0.015974752604961395,
242
+ "seg_ssim_ref": 0.926106870174408,
243
+ "depth": 0.0017548987504120708,
244
+ "rgb_loss": 0.027272537350654602,
245
+ "seg_loss": 0.027558427304029465,
246
+ "total": 0.05483271955343448,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017548987504120708,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012456626393009596
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 485,
281
+ "adam_update_count": 77115
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3249191087670624
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_7b2a19f6639a4d01b3b3d7bbe8d29a61_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 486,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77116,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 485,
300
+ "trained_intervals": 77115,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77115,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.5889410972595215,
333
+ "median": 5.1447930335998535,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07711796462535858,
347
+ "median": 0.07711796462535858,
348
+ "max": 0.07711796462535858,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1405775249004364,
354
+ "median": 4.31690788269043,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.01016361452639103,
361
+ "median": 171.53598022460938,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8688563108444214,
382
+ "median": 74.96267700195312,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07711796462535858,
410
+ "median": 0.07711796462535858,
411
+ "max": 0.07711796462535858,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23386,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0486.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0486",
5
+ "executed_epochs": 486,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_20738c043d0d4d4696b15419dee3a1ea.npz",
37
+ "optimizer_file": "boundary_20738c043d0d4d4696b15419dee3a1ea_optimizer.pt",
38
+ "arrays_sha256": "70358b6f2bc3a9bcf0c886c7c8689479e0a9200a3179c41a8f3b1e5a12fb9b19",
39
+ "optimizer_sha256": "31dd0d94f180aaf34cd291fb966b1cdfc223a96447b56055c4264dc565fe33aa",
40
+ "stage": "adam",
41
+ "completed_passes": 486,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77274,
45
+ "adam_update_count": 77274,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 487,
49
+ "consumed_count": 486,
50
+ "last_submitted_update": 77274,
51
+ "last_consumed_update": 77115,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77274,
56
+ "completed_passes": 486,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77274,
59
+ "snapshot": "pass_end_0486",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 486,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77274,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77274,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005538627156056464,
83
+ "update_l2": 0.18032978475093842
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004039821680635214,
91
+ "update_l2": 0.0007284879684448242
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.505419565248303e-05,
95
+ "update_l2": 0.007808303460478783
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07467389167215456,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23412,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08691482245922089,
117
+ "ground_restitution/effective": 0.08691482245922089,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07467389167215456,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02318657375872135,
129
+ "ssim_fused": 0.9082449674606323,
130
+ "seg_l1": 0.024273015558719635,
131
+ "seg_ssim_ref": 0.9082435369491577,
132
+ "depth": 0.003926129301690444,
133
+ "rgb_loss": 0.036900267004966736,
134
+ "seg_loss": 0.03776969760656357,
135
+ "total": 0.07467389167215456
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.030419668182730675,
141
+ "ssim_fused": 0.8952349424362183,
142
+ "seg_l1": 0.026678074151277542,
143
+ "seg_ssim_ref": 0.8952339887619019,
144
+ "depth": 0.007175356870141242,
145
+ "rgb_loss": 0.045288749039173126,
146
+ "seg_loss": 0.0422956645488739,
147
+ "total": 0.08759158894491717,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007175356870141242,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00432337878854402
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03210996836423874,
174
+ "ssim_fused": 0.8788561820983887,
175
+ "seg_l1": 0.04104561731219292,
176
+ "seg_ssim_ref": 0.8788541555404663,
177
+ "depth": 0.004176993745317579,
178
+ "rgb_loss": 0.049916740506887436,
179
+ "seg_loss": 0.05706566199660301,
180
+ "total": 0.10698657949723576,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004176993745317579,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0027334737800398016
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01438110787421465,
207
+ "ssim_fused": 0.9333873987197876,
208
+ "seg_l1": 0.013024045154452324,
209
+ "seg_ssim_ref": 0.9333861470222473,
210
+ "depth": 0.0024627504182086943,
211
+ "rgb_loss": 0.02482740581035614,
212
+ "seg_loss": 0.023742007091641426,
213
+ "total": 0.048571873789770625,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0024627504182086943,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.002121348508486472
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01583554595708847,
240
+ "ssim_fused": 0.92550128698349,
241
+ "seg_l1": 0.016344325616955757,
242
+ "seg_ssim_ref": 0.9255000352859497,
243
+ "depth": 0.0018894161730942623,
244
+ "rgb_loss": 0.027568180114030838,
245
+ "seg_loss": 0.027975454926490784,
246
+ "total": 0.055545524456694716,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018894161730942623,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0013801800619831514
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 486,
281
+ "adam_update_count": 77274
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32438873080536723
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_20738c043d0d4d4696b15419dee3a1ea_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 487,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77275,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 486,
300
+ "trained_intervals": 77274,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77274,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.5915422439575195,
333
+ "median": 5.140638828277588,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08618633449077606,
347
+ "median": 0.08618633449077606,
348
+ "max": 0.08618633449077606,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1261102855205536,
354
+ "median": 4.328303337097168,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010137212462723255,
361
+ "median": 170.82485961914062,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8815175890922546,
382
+ "median": 75.81816101074219,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08618633449077606,
410
+ "median": 0.08618633449077606,
411
+ "max": 0.08618633449077606,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23412,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0487.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0487",
5
+ "executed_epochs": 487,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_ca91510f918e4652ae7f2c6bc76ef35d.npz",
37
+ "optimizer_file": "boundary_ca91510f918e4652ae7f2c6bc76ef35d_optimizer.pt",
38
+ "arrays_sha256": "6046e5f89661c2dd83c40adb27d0f1894c517f7a8bdd5266fc08e4170ff54f58",
39
+ "optimizer_sha256": "99bf93d757a1f281d5f351aad8e955cd7cd94ae2f0c6ec8002ae3387393a4efd",
40
+ "stage": "adam",
41
+ "completed_passes": 487,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77433,
45
+ "adam_update_count": 77433,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 488,
49
+ "consumed_count": 487,
50
+ "last_submitted_update": 77433,
51
+ "last_consumed_update": 77274,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77433,
56
+ "completed_passes": 487,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77433,
59
+ "snapshot": "pass_end_0487",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 487,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77433,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77433,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00028535473393276334,
83
+ "update_l2": 0.1733926683664322
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004330686759203672,
91
+ "update_l2": 0.0010446012020111084
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.2570120563614182e-05,
95
+ "update_l2": 0.006605860777199268
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0714051107601015,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23438,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08165092021226883,
117
+ "ground_restitution/effective": 0.08165092021226883,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0714051107601015,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022035427391529083,
129
+ "ssim_fused": 0.9113022089004517,
130
+ "seg_l1": 0.022867310792207718,
131
+ "seg_ssim_ref": 0.9113008379936218,
132
+ "depth": 0.003520278701008064,
133
+ "rgb_loss": 0.035367902368307114,
134
+ "seg_loss": 0.03603368625044823,
135
+ "total": 0.0714051107601015
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029569007456302643,
141
+ "ssim_fused": 0.8968552947044373,
142
+ "seg_l1": 0.026573453098535538,
143
+ "seg_ssim_ref": 0.8968544602394104,
144
+ "depth": 0.006823452064526112,
145
+ "rgb_loss": 0.0442841500043869,
146
+ "seg_loss": 0.04188787192106247,
147
+ "total": 0.0861788453775139,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006823452064526112,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00397147398292889
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.02953503653407097,
174
+ "ssim_fused": 0.8862659335136414,
175
+ "seg_l1": 0.037405405193567276,
176
+ "seg_ssim_ref": 0.886263906955719,
177
+ "depth": 0.003468663958558399,
178
+ "rgb_loss": 0.0463748425245285,
179
+ "seg_loss": 0.05267154425382614,
180
+ "total": 0.0990498554423132,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003468663958558399,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002025143993280621
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013546131551265717,
207
+ "ssim_fused": 0.9360128045082092,
208
+ "seg_l1": 0.011878984980285168,
209
+ "seg_ssim_ref": 0.936011552810669,
210
+ "depth": 0.0021024069952540513,
211
+ "rgb_loss": 0.023634344339370728,
212
+ "seg_loss": 0.022300878539681435,
213
+ "total": 0.04593732342340227,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021024069952540513,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.001761005085531829
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015491526573896408,
240
+ "ssim_fused": 0.926074743270874,
241
+ "seg_l1": 0.01561139989644289,
242
+ "seg_ssim_ref": 0.9260733127593994,
243
+ "depth": 0.001686591785693696,
244
+ "rgb_loss": 0.027178272604942322,
245
+ "seg_loss": 0.02727445773780346,
246
+ "total": 0.05445441879717662,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.001686591785693696,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001177355674582585
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 487,
281
+ "adam_update_count": 77433
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31650172220543027
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_ca91510f918e4652ae7f2c6bc76ef35d_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 488,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77434,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 487,
300
+ "trained_intervals": 77433,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77433,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.5938520431518555,
333
+ "median": 5.135015487670898,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08060631901025772,
347
+ "median": 0.08060631901025772,
348
+ "max": 0.08060631901025772,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1333332359790802,
354
+ "median": 4.314604759216309,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010113825090229511,
361
+ "median": 169.866943359375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8751734495162964,
382
+ "median": 74.78419494628906,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08060631901025772,
410
+ "median": 0.08060631901025772,
411
+ "max": 0.08060631901025772,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23438,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0488.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0488",
5
+ "executed_epochs": 488,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_6c57bd6bc1ba4eeaa2efffadee21f1f2.npz",
37
+ "optimizer_file": "boundary_6c57bd6bc1ba4eeaa2efffadee21f1f2_optimizer.pt",
38
+ "arrays_sha256": "322c53d0d86f4f88f2c873825f350e75435d8bbdb8ec6d45a59430da004aadf5",
39
+ "optimizer_sha256": "74ac4223471cfe327ff4ef2e687c32a3604db28577c1da02e98b5ea1fb08d75f",
40
+ "stage": "adam",
41
+ "completed_passes": 488,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77592,
45
+ "adam_update_count": 77592,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 489,
49
+ "consumed_count": 488,
50
+ "last_submitted_update": 77592,
51
+ "last_consumed_update": 77433,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77592,
56
+ "completed_passes": 488,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77592,
59
+ "snapshot": "pass_end_0488",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 488,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77592,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77592,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00047121316310949624,
83
+ "update_l2": 0.15615619719028473
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004553546197712421,
91
+ "update_l2": 0.0008442029356956482
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.2247841116040945e-05,
95
+ "update_l2": 0.0025134121533483267
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07321552942470175,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23454,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.083128921687603,
117
+ "ground_restitution/effective": 0.083128921687603,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07321552942470175,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022644896060228348,
129
+ "ssim_fused": 0.9095790386199951,
130
+ "seg_l1": 0.023659002035856247,
131
+ "seg_ssim_ref": 0.9095776081085205,
132
+ "depth": 0.0037533320532504065,
133
+ "rgb_loss": 0.03620010241866112,
134
+ "seg_loss": 0.03701167553663254,
135
+ "total": 0.07321552942470175
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029841240495443344,
141
+ "ssim_fused": 0.8961483836174011,
142
+ "seg_l1": 0.02650936134159565,
143
+ "seg_ssim_ref": 0.8961476683616638,
144
+ "depth": 0.007027975250659381,
145
+ "rgb_loss": 0.04464331641793251,
146
+ "seg_loss": 0.041977956891059875,
147
+ "total": 0.08662829755895275,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007027975250659381,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004175997169062159
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.030919106677174568,
174
+ "ssim_fused": 0.8819466829299927,
175
+ "seg_l1": 0.03934494033455849,
176
+ "seg_ssim_ref": 0.8819445967674255,
177
+ "depth": 0.003848492040329147,
178
+ "rgb_loss": 0.04834594950079918,
179
+ "seg_loss": 0.05508703738451004,
180
+ "total": 0.10343683165205925,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003848492040329147,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002404972075051369
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014078921638429165,
207
+ "ssim_fused": 0.9344196915626526,
208
+ "seg_l1": 0.012647752650082111,
209
+ "seg_ssim_ref": 0.9344183206558228,
210
+ "depth": 0.002328024387078929,
211
+ "rgb_loss": 0.024379199370741844,
212
+ "seg_loss": 0.023234538733959198,
213
+ "total": 0.04761606799173327,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002328024387078929,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.001986622477356706
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01574030891060829,
240
+ "ssim_fused": 0.9258015155792236,
241
+ "seg_l1": 0.016133951023221016,
242
+ "seg_ssim_ref": 0.9257999658584595,
243
+ "depth": 0.00180883653493417,
244
+ "rgb_loss": 0.027431944385170937,
245
+ "seg_loss": 0.027747169137001038,
246
+ "total": 0.05518092049606176,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.00180883653493417,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012996004238230586
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 488,
281
+ "adam_update_count": 77592
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31751785473898053
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_6c57bd6bc1ba4eeaa2efffadee21f1f2_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 489,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77593,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 488,
300
+ "trained_intervals": 77592,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77592,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.596542835235596,
333
+ "median": 5.129238128662109,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08228471875190735,
347
+ "median": 0.08228471875190735,
348
+ "max": 0.08228471875190735,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.14244934916496277,
354
+ "median": 4.328254222869873,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010086646303534508,
361
+ "median": 168.88844299316406,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8672314882278442,
382
+ "median": 75.81581115722656,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08228471875190735,
410
+ "median": 0.08228471875190735,
411
+ "max": 0.08228471875190735,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23454,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0489.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0489",
5
+ "executed_epochs": 489,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d86e5cf874a34c699994b00069f2ba3d.npz",
37
+ "optimizer_file": "boundary_d86e5cf874a34c699994b00069f2ba3d_optimizer.pt",
38
+ "arrays_sha256": "e14ff0767e47929c8590e1affdd46179f3cfb58d1f53419fedd9e58926a5bc91",
39
+ "optimizer_sha256": "6a01af7fcf6688f1411a644fdab3f3ddc7e841b3a0182f4f37413c44e7077646",
40
+ "stage": "adam",
41
+ "completed_passes": 489,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77751,
45
+ "adam_update_count": 77751,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 490,
49
+ "consumed_count": 489,
50
+ "last_submitted_update": 77751,
51
+ "last_consumed_update": 77592,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77751,
56
+ "completed_passes": 489,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77751,
59
+ "snapshot": "pass_end_0489",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 489,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77751,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77751,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0004073478630743921,
83
+ "update_l2": 0.1511746644973755
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004599285777658224,
91
+ "update_l2": 0.001005224883556366
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.7218206266989e-05,
95
+ "update_l2": 0.0023485124111175537
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07186858078778695,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23484,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.07855059206485748,
117
+ "ground_restitution/effective": 0.07855059206485748,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07186858078778695,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022193171083927155,
129
+ "ssim_fused": 0.9107686877250671,
130
+ "seg_l1": 0.023022079840302467,
131
+ "seg_ssim_ref": 0.9107673764228821,
132
+ "depth": 0.0035856136770051994,
133
+ "rgb_loss": 0.035600803792476654,
134
+ "seg_loss": 0.036264192312955856,
135
+ "total": 0.07186858078778695
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029373329132795334,
141
+ "ssim_fused": 0.8975982069969177,
142
+ "seg_l1": 0.025991695001721382,
143
+ "seg_ssim_ref": 0.8975974917411804,
144
+ "depth": 0.0068571134809809475,
145
+ "rgb_loss": 0.04397902265191078,
146
+ "seg_loss": 0.04127385839819908,
147
+ "total": 0.08525973816359085,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.0068571134809809475,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004005135399383726
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03012707456946373,
174
+ "ssim_fused": 0.8843263387680054,
175
+ "seg_l1": 0.038214061409235,
176
+ "seg_ssim_ref": 0.8843245506286621,
177
+ "depth": 0.0036091187802471947,
178
+ "rgb_loss": 0.04723639041185379,
179
+ "seg_loss": 0.0537063404917717,
180
+ "total": 0.10094634002240574,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0036091187802471947,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002165598814969417
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013723225332796574,
207
+ "ssim_fused": 0.935245931148529,
208
+ "seg_l1": 0.012106269598007202,
209
+ "seg_ssim_ref": 0.935244619846344,
210
+ "depth": 0.002165078986626791,
211
+ "rgb_loss": 0.023929394781589508,
212
+ "seg_loss": 0.022636093199253082,
213
+ "total": 0.04656765305982922,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002165078986626791,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018236770769045685
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015549056231975555,
240
+ "ssim_fused": 0.9259042143821716,
241
+ "seg_l1": 0.015776291489601135,
242
+ "seg_ssim_ref": 0.925902783870697,
243
+ "depth": 0.0017111434601658644,
244
+ "rgb_loss": 0.027258403599262238,
245
+ "seg_loss": 0.027440477162599564,
246
+ "total": 0.05470059190532197,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017111434601658644,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001201907349054753
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 489,
281
+ "adam_update_count": 77751
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32417441299185157
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d86e5cf874a34c699994b00069f2ba3d_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 490,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77752,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 489,
300
+ "trained_intervals": 77751,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77751,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.599337100982666,
333
+ "median": 5.124629020690918,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07754536718130112,
347
+ "median": 0.07754536718130112,
348
+ "max": 0.07754536718130112,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.14751377701759338,
354
+ "median": 4.332063674926758,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010058501735329628,
361
+ "median": 168.11175537109375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.862850546836853,
382
+ "median": 76.10118103027344,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07754536718130112,
410
+ "median": 0.07754536718130112,
411
+ "max": 0.07754536718130112,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23484,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0490.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0490",
5
+ "executed_epochs": 490,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_9846629d9f774a70b80529ab43f0714e.npz",
37
+ "optimizer_file": "boundary_9846629d9f774a70b80529ab43f0714e_optimizer.pt",
38
+ "arrays_sha256": "81dacc8f5105408b72f9c27a8c357bdf2b55f6f0605df026bb44507d6fb67704",
39
+ "optimizer_sha256": "c641f292b0f3271b61a71119fa397e399af146dd04482b69638da3d20a9cd1ba",
40
+ "stage": "adam",
41
+ "completed_passes": 490,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 77910,
45
+ "adam_update_count": 77910,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 491,
49
+ "consumed_count": 490,
50
+ "last_submitted_update": 77910,
51
+ "last_consumed_update": 77751,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 77910,
56
+ "completed_passes": 490,
57
+ "next_interval": 0,
58
+ "trained_intervals": 77910,
59
+ "snapshot": "pass_end_0490",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 490,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 77910,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 77910,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005073114880360663,
83
+ "update_l2": 0.18412062525749207
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004711946472525597,
91
+ "update_l2": 0.0010269060730934143
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.804058592824731e-05,
95
+ "update_l2": 0.0035577905364334583
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07362157018953194,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23513,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08089116960763931,
117
+ "ground_restitution/effective": 0.08089116960763931,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07362157018953194,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02275264821946621,
129
+ "ssim_fused": 0.9092463850975037,
130
+ "seg_l1": 0.023892410099506378,
131
+ "seg_ssim_ref": 0.9092451333999634,
132
+ "depth": 0.003815685447362193,
133
+ "rgb_loss": 0.036352843046188354,
134
+ "seg_loss": 0.03726491332054138,
135
+ "total": 0.07362157018953194
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03010367415845394,
141
+ "ssim_fused": 0.895703911781311,
142
+ "seg_l1": 0.027065083384513855,
143
+ "seg_ssim_ref": 0.8957033157348633,
144
+ "depth": 0.007100331709213788,
145
+ "rgb_loss": 0.04494215548038483,
146
+ "seg_loss": 0.04251140356063843,
147
+ "total": 0.08746065937273247,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007100331709213788,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004248353627616565
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.030897583812475204,
174
+ "ssim_fused": 0.8817488551139832,
175
+ "seg_l1": 0.03929343447089195,
176
+ "seg_ssim_ref": 0.8817469477653503,
177
+ "depth": 0.003898347861406445,
178
+ "rgb_loss": 0.04836829751729965,
179
+ "seg_loss": 0.05508536100387573,
180
+ "total": 0.10345755686903679,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003898347861406445,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002454827896128667
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.01412037294358015,
207
+ "ssim_fused": 0.9345741868019104,
208
+ "seg_l1": 0.012744363397359848,
209
+ "seg_ssim_ref": 0.9345728158950806,
210
+ "depth": 0.00239772055938814,
211
+ "rgb_loss": 0.02438146248459816,
212
+ "seg_loss": 0.023280927911400795,
213
+ "total": 0.047664789979203495,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.00239772055938814,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0020563186496659184
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015888968482613564,
240
+ "ssim_fused": 0.9249586462974548,
241
+ "seg_l1": 0.01646675541996956,
242
+ "seg_ssim_ref": 0.9249572157859802,
243
+ "depth": 0.0018663416594404002,
244
+ "rgb_loss": 0.027719445526599884,
245
+ "seg_loss": 0.028181960806250572,
246
+ "total": 0.055903274537155045,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018663416594404002,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001357105548329289
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 490,
281
+ "adam_update_count": 77910
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.34116550628095865
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_9846629d9f774a70b80529ab43f0714e_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 491,
293
+ "next_interval": 0,
294
+ "next_adam_update": 77911,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 490,
300
+ "trained_intervals": 77910,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 77910,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.601658344268799,
333
+ "median": 5.119235038757324,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0798642635345459,
347
+ "median": 0.0798642635345459,
348
+ "max": 0.0798642635345459,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.15684369206428528,
354
+ "median": 4.310558319091797,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010035179555416107,
361
+ "median": 167.20745849609375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8548377156257629,
382
+ "median": 74.48255920410156,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0798642635345459,
410
+ "median": 0.0798642635345459,
411
+ "max": 0.0798642635345459,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23513,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0491.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0491",
5
+ "executed_epochs": 491,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_3aa359b221054cdcba7b918fc541a825.npz",
37
+ "optimizer_file": "boundary_3aa359b221054cdcba7b918fc541a825_optimizer.pt",
38
+ "arrays_sha256": "ac9497e8da2ed5c743c132282c4ec6a58131353b0ca938828607c1336bf8484c",
39
+ "optimizer_sha256": "c76ab4d4652540cbb81debb2787c42cadf9e9097d1554b151df58d301af03bbb",
40
+ "stage": "adam",
41
+ "completed_passes": 491,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78069,
45
+ "adam_update_count": 78069,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 492,
49
+ "consumed_count": 491,
50
+ "last_submitted_update": 78069,
51
+ "last_consumed_update": 77910,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78069,
56
+ "completed_passes": 491,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78069,
59
+ "snapshot": "pass_end_0491",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 491,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78069,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78069,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.000592305266764015,
83
+ "update_l2": 0.200902059674263
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.00435756566002965,
91
+ "update_l2": 0.000867992639541626
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.2648571252357215e-05,
95
+ "update_l2": 0.010229620151221752
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07535690797833286,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23537,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08527728170156479,
117
+ "ground_restitution/effective": 0.08527728170156479,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07535690797833286,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.023458115756511688,
129
+ "ssim_fused": 0.9076274633407593,
130
+ "seg_l1": 0.024546341970562935,
131
+ "seg_ssim_ref": 0.9076259136199951,
132
+ "depth": 0.004021286643373702,
133
+ "rgb_loss": 0.03724100813269615,
134
+ "seg_loss": 0.03811188042163849,
135
+ "total": 0.07535690797833286
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03092399798333645,
141
+ "ssim_fused": 0.894321858882904,
142
+ "seg_l1": 0.027025612071156502,
143
+ "seg_ssim_ref": 0.8943207263946533,
144
+ "depth": 0.007313557183081802,
145
+ "rgb_loss": 0.04587482661008835,
146
+ "seg_loss": 0.0427563451230526,
147
+ "total": 0.08863848156503373,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007313557183081802,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004461579101484579
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03253521770238876,
174
+ "ssim_fused": 0.8778061866760254,
175
+ "seg_l1": 0.04166795685887337,
176
+ "seg_ssim_ref": 0.877804160118103,
177
+ "depth": 0.004346283656375276,
178
+ "rgb_loss": 0.05046693980693817,
179
+ "seg_loss": 0.05777353793382645,
180
+ "total": 0.108244824024421,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004346283656375276,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002902763691097498
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014549659565091133,
207
+ "ssim_fused": 0.9328015446662903,
208
+ "seg_l1": 0.013215895742177963,
209
+ "seg_ssim_ref": 0.93280029296875,
210
+ "depth": 0.0025121533488386516,
211
+ "rgb_loss": 0.02507941983640194,
212
+ "seg_loss": 0.02401265874505043,
213
+ "total": 0.04909458887215606,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0025121533488386516,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0021707514391164297
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01582358404994011,
240
+ "ssim_fused": 0.9255801439285278,
241
+ "seg_l1": 0.016275906935334206,
242
+ "seg_ssim_ref": 0.9255787134170532,
243
+ "depth": 0.0019131523851990803,
244
+ "rgb_loss": 0.02754283882677555,
245
+ "seg_loss": 0.02790498360991478,
246
+ "total": 0.05544973745172068,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019131523851990803,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001403916274087969
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 491,
281
+ "adam_update_count": 78069
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3138820952735841
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_3aa359b221054cdcba7b918fc541a825_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 492,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78070,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 491,
300
+ "trained_intervals": 78069,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78069,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.604674816131592,
333
+ "median": 5.115220069885254,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08440928906202316,
347
+ "median": 0.08440928906202316,
348
+ "max": 0.08440928906202316,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.14177967607975006,
354
+ "median": 4.334216594696045,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.010004955343902111,
361
+ "median": 166.53746032714844,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.86781245470047,
382
+ "median": 76.27534484863281,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08440928906202316,
410
+ "median": 0.08440928906202316,
411
+ "max": 0.08440928906202316,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23537,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0492.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0492",
5
+ "executed_epochs": 492,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_78bbe2fda32746eea7c8330d6f442e5e.npz",
37
+ "optimizer_file": "boundary_78bbe2fda32746eea7c8330d6f442e5e_optimizer.pt",
38
+ "arrays_sha256": "2a283051be84048450b6f1af4bf1c4b55eb3a0e71e9945d937d841103514bed1",
39
+ "optimizer_sha256": "57980de1a0c178708ab04ba1d7ef43dee16160f0f736ad3694a5fb833aaa50b2",
40
+ "stage": "adam",
41
+ "completed_passes": 492,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78228,
45
+ "adam_update_count": 78228,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 493,
49
+ "consumed_count": 492,
50
+ "last_submitted_update": 78228,
51
+ "last_consumed_update": 78069,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78228,
56
+ "completed_passes": 492,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78228,
59
+ "snapshot": "pass_end_0492",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 492,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78228,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78228,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003768825263250619,
83
+ "update_l2": 0.18400712311267853
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.00441677076742053,
91
+ "update_l2": 0.00102127343416214
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8470323993824422e-05,
95
+ "update_l2": 0.009154842235147953
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07160146390240438,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23566,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08078397810459137,
117
+ "ground_restitution/effective": 0.08078397810459137,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07160146390240438,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022099407389760017,
129
+ "ssim_fused": 0.910990834236145,
130
+ "seg_l1": 0.02289312332868576,
131
+ "seg_ssim_ref": 0.9109896421432495,
132
+ "depth": 0.00353851508147481,
133
+ "rgb_loss": 0.035481348633766174,
134
+ "seg_loss": 0.036116573959589005,
135
+ "total": 0.07160146390240438
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02955428510904312,
141
+ "ssim_fused": 0.8968786001205444,
142
+ "seg_l1": 0.026364093646407127,
143
+ "seg_ssim_ref": 0.8968778848648071,
144
+ "depth": 0.006842630444061295,
145
+ "rgb_loss": 0.04426770657300949,
146
+ "seg_loss": 0.04171569645404816,
147
+ "total": 0.08599024565750171,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006842630444061295,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.003990652362464073
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.029699429869651794,
174
+ "ssim_fused": 0.8856316804885864,
175
+ "seg_l1": 0.03761528059840202,
176
+ "seg_ssim_ref": 0.8856298923492432,
177
+ "depth": 0.003518711600319948,
178
+ "rgb_loss": 0.04663320630788803,
179
+ "seg_loss": 0.052966244518756866,
180
+ "total": 0.09960296953824521,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003518711600319948,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.00207519163504217
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013621091842651367,
207
+ "ssim_fused": 0.9357172250747681,
208
+ "seg_l1": 0.011939018033444881,
209
+ "seg_ssim_ref": 0.9357159733772278,
210
+ "depth": 0.0021240515138345973,
211
+ "rgb_loss": 0.02375342883169651,
212
+ "seg_loss": 0.02240801975131035,
213
+ "total": 0.04616357449716584,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021240515138345973,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.001782649604112375
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015522819943726063,
240
+ "ssim_fused": 0.9257360100746155,
241
+ "seg_l1": 0.015654101967811584,
242
+ "seg_ssim_ref": 0.9257346987724304,
243
+ "depth": 0.0016686667676833972,
244
+ "rgb_loss": 0.027271054685115814,
245
+ "seg_loss": 0.027376342564821243,
246
+ "total": 0.054649065916704744,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0016686667676833972,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011594306565722863
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 492,
281
+ "adam_update_count": 78228
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.313667846377939
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_78bbe2fda32746eea7c8330d6f442e5e_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 493,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78229,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 492,
300
+ "trained_intervals": 78228,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78228,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.607027053833008,
333
+ "median": 5.109072685241699,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07976270467042923,
347
+ "median": 0.07976270467042923,
348
+ "max": 0.07976270467042923,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.14631088078022003,
354
+ "median": 4.327313423156738,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009981448762118816,
361
+ "median": 165.516845703125,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8638891577720642,
382
+ "median": 75.74899291992188,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07976270467042923,
410
+ "median": 0.07976270467042923,
411
+ "max": 0.07976270467042923,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23566,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0493.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0493",
5
+ "executed_epochs": 493,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_dafabfaa764d49abaf9bf2f3710fa099.npz",
37
+ "optimizer_file": "boundary_dafabfaa764d49abaf9bf2f3710fa099_optimizer.pt",
38
+ "arrays_sha256": "b1f55d5c6c8db75d8647193d5b75c39b527f3ac019435854231e81949f05b577",
39
+ "optimizer_sha256": "b6c523033ece3ab7c0335da3772b9368047d046fee3a5700f458211407d49978",
40
+ "stage": "adam",
41
+ "completed_passes": 493,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78387,
45
+ "adam_update_count": 78387,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 494,
49
+ "consumed_count": 493,
50
+ "last_submitted_update": 78387,
51
+ "last_consumed_update": 78228,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78387,
56
+ "completed_passes": 493,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78387,
59
+ "snapshot": "pass_end_0493",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 493,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78387,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78387,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005205889465287328,
83
+ "update_l2": 0.1902906894683838
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004746505059301853,
91
+ "update_l2": 0.001073107123374939
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8933129467768595e-05,
95
+ "update_l2": 0.005197785794734955
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07450691753065607,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23593,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08058363199234009,
117
+ "ground_restitution/effective": 0.08058363199234009,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07450691753065607,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.023062637075781822,
129
+ "ssim_fused": 0.9084071516990662,
130
+ "seg_l1": 0.024269338697195053,
131
+ "seg_ssim_ref": 0.9084059000015259,
132
+ "depth": 0.003941850722033478,
133
+ "rgb_loss": 0.03676867485046387,
134
+ "seg_loss": 0.03773429989814758,
135
+ "total": 0.07450691753065607
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.030443470925092697,
141
+ "ssim_fused": 0.8949983716011047,
142
+ "seg_l1": 0.027252931147813797,
143
+ "seg_ssim_ref": 0.8949976563453674,
144
+ "depth": 0.0072307004809633105,
145
+ "rgb_loss": 0.04535510390996933,
146
+ "seg_loss": 0.04280281439423561,
147
+ "total": 0.0881651527299762,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.0072307004809633105,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004378722399366089
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03140870854258537,
174
+ "ssim_fused": 0.8803001046180725,
175
+ "seg_l1": 0.0400448702275753,
176
+ "seg_ssim_ref": 0.8802981376647949,
177
+ "depth": 0.004085608936992939,
178
+ "rgb_loss": 0.049066945910453796,
179
+ "seg_loss": 0.055976271629333496,
180
+ "total": 0.10504730314872429,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004085608936992939,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0026420889717151614
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014345971867442131,
207
+ "ssim_fused": 0.9338657259941101,
208
+ "seg_l1": 0.013050802052021027,
209
+ "seg_ssim_ref": 0.9338644742965698,
210
+ "depth": 0.0025148285916807233,
211
+ "rgb_loss": 0.024703633040189743,
212
+ "seg_loss": 0.023667747154831886,
213
+ "total": 0.04837389688625846,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0025148285916807233,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.002173426681958501
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01605239510536194,
240
+ "ssim_fused": 0.9244645237922668,
241
+ "seg_l1": 0.016728747636079788,
242
+ "seg_ssim_ref": 0.924463152885437,
243
+ "depth": 0.0019362648784969415,
244
+ "rgb_loss": 0.0279490128159523,
245
+ "seg_loss": 0.028490368276834488,
246
+ "total": 0.056441317357665284,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019362648784969415,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0014270287673858306
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 493,
281
+ "adam_update_count": 78387
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31539087230339646
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_dafabfaa764d49abaf9bf2f3710fa099_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 494,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78388,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 493,
300
+ "trained_intervals": 78387,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78387,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.609238624572754,
333
+ "median": 5.105287551879883,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.07951052486896515,
347
+ "median": 0.07951052486896515,
348
+ "max": 0.07951052486896515,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.16195626556873322,
354
+ "median": 4.3248467445373535,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009959397837519646,
361
+ "median": 164.8914794921875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8504784107208252,
382
+ "median": 75.55521392822266,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.07951052486896515,
410
+ "median": 0.07951052486896515,
411
+ "max": 0.07951052486896515,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23593,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0494.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0494",
5
+ "executed_epochs": 494,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_a55c7a2647d44339a6cde4820f6213ca.npz",
37
+ "optimizer_file": "boundary_a55c7a2647d44339a6cde4820f6213ca_optimizer.pt",
38
+ "arrays_sha256": "4b3236c5d0e37863969553d56c0f2d702f82a01228b80416923b3681b586fc58",
39
+ "optimizer_sha256": "c906a633d45965f2e14749a0b21adf03f6f409349aff416ad51400bac29be9d7",
40
+ "stage": "adam",
41
+ "completed_passes": 494,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78546,
45
+ "adam_update_count": 78546,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 495,
49
+ "consumed_count": 494,
50
+ "last_submitted_update": 78546,
51
+ "last_consumed_update": 78387,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78546,
56
+ "completed_passes": 494,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78546,
59
+ "snapshot": "pass_end_0494",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 494,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78546,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78546,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005530246417038143,
83
+ "update_l2": 0.17672833800315857
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004177813418209553,
91
+ "update_l2": 0.0008599832653999329
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.5702807256020606e-05,
95
+ "update_l2": 0.006317900959402323
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07580830773557709,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23614,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08757346868515015,
117
+ "ground_restitution/effective": 0.08757346868515015,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07580830773557709,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02362576127052307,
129
+ "ssim_fused": 0.907198429107666,
130
+ "seg_l1": 0.02472838945686817,
131
+ "seg_ssim_ref": 0.9071969985961914,
132
+ "depth": 0.004066733971106199,
133
+ "rgb_loss": 0.037460923194885254,
134
+ "seg_loss": 0.038343317806720734,
135
+ "total": 0.07580830773557709
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.031286995857954025,
141
+ "ssim_fused": 0.8934546709060669,
142
+ "seg_l1": 0.02736988104879856,
143
+ "seg_ssim_ref": 0.8934535980224609,
144
+ "depth": 0.007401632140669196,
145
+ "rgb_loss": 0.04633866250514984,
146
+ "seg_loss": 0.04320518672466278,
147
+ "total": 0.08955125086195329,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007401632140669196,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004549654059071973
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03276245296001434,
174
+ "ssim_fused": 0.8772354125976562,
175
+ "seg_l1": 0.04200682044029236,
176
+ "seg_ssim_ref": 0.8772334456443787,
177
+ "depth": 0.004417972521942316,
178
+ "rgb_loss": 0.050762880593538284,
179
+ "seg_loss": 0.05815877020359039,
180
+ "total": 0.10892606504436032,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004417972521942316,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0029744525566645376
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014659618958830833,
207
+ "ssim_fused": 0.9324977993965149,
208
+ "seg_l1": 0.013364591635763645,
209
+ "seg_ssim_ref": 0.9324963688850403,
210
+ "depth": 0.0025344308240124436,
211
+ "rgb_loss": 0.025228135287761688,
212
+ "seg_loss": 0.02419240027666092,
213
+ "total": 0.04942306999524662,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0025344308240124436,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0021930289142902213
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015793969854712486,
240
+ "ssim_fused": 0.925605833530426,
241
+ "seg_l1": 0.016172269359230995,
242
+ "seg_ssim_ref": 0.9256044626235962,
243
+ "depth": 0.0019129003978008402,
244
+ "rgb_loss": 0.027514010667800903,
245
+ "seg_loss": 0.027816923335194588,
246
+ "total": 0.05533284504074814,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019129003978008402,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.001403664286689729
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 494,
281
+ "adam_update_count": 78546
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.31764583522453904
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_a55c7a2647d44339a6cde4820f6213ca_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 495,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78547,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 494,
300
+ "trained_intervals": 78546,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78546,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.612053394317627,
333
+ "median": 5.101428031921387,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08671348541975021,
347
+ "median": 0.08671348541975021,
348
+ "max": 0.08671348541975021,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.146945521235466,
354
+ "median": 4.337637901306152,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009931404143571854,
361
+ "median": 164.25633239746094,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8633410334587097,
382
+ "median": 76.5277099609375,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08671348541975021,
410
+ "median": 0.08671348541975021,
411
+ "max": 0.08671348541975021,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23615,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0495.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0495",
5
+ "executed_epochs": 495,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_d3c2536bceb347b69e365a92d3f4d5ac.npz",
37
+ "optimizer_file": "boundary_d3c2536bceb347b69e365a92d3f4d5ac_optimizer.pt",
38
+ "arrays_sha256": "fc1a5c9ebfa31c04d473d542d57a310c8944c07e3951682b0d7fd0328febccda",
39
+ "optimizer_sha256": "eca1a026e248350b444ab4a3a4214fcea6a57e3c1242b918f05c53c20835d325",
40
+ "stage": "adam",
41
+ "completed_passes": 495,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78705,
45
+ "adam_update_count": 78705,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 496,
49
+ "consumed_count": 495,
50
+ "last_submitted_update": 78705,
51
+ "last_consumed_update": 78546,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78705,
56
+ "completed_passes": 495,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78705,
59
+ "snapshot": "pass_end_0495",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 495,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78705,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78705,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00041527164285071194,
83
+ "update_l2": 0.1689843237400055
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004564141388982534,
91
+ "update_l2": 0.0010172352194786072
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.9882201740983874e-05,
95
+ "update_l2": 0.007224550005048513
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07192184925394499,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23646,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.0829801931977272,
117
+ "ground_restitution/effective": 0.0829801931977272,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07192184925394499,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022216200828552246,
129
+ "ssim_fused": 0.9107257127761841,
130
+ "seg_l1": 0.023044107481837273,
131
+ "seg_ssim_ref": 0.9107243418693542,
132
+ "depth": 0.0036140935345766287,
133
+ "rgb_loss": 0.0356278158724308,
134
+ "seg_loss": 0.03629041835665703,
135
+ "total": 0.07192184925394499
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029726363718509674,
141
+ "ssim_fused": 0.8964062333106995,
142
+ "seg_l1": 0.02656109631061554,
143
+ "seg_ssim_ref": 0.8964053392410278,
144
+ "depth": 0.006951817076769916,
145
+ "rgb_loss": 0.04449984431266785,
146
+ "seg_loss": 0.041967809200286865,
147
+ "total": 0.08647460533003148,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006951817076769916,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004099838995172694
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.02993278205394745,
174
+ "ssim_fused": 0.8847859501838684,
175
+ "seg_l1": 0.037927720695734024,
176
+ "seg_ssim_ref": 0.8847840428352356,
177
+ "depth": 0.0036277217627407256,
178
+ "rgb_loss": 0.046989038586616516,
179
+ "seg_loss": 0.05338536947965622,
180
+ "total": 0.10037803578803547,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0036277217627407256,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.002184201797462948
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013743030838668346,
207
+ "ssim_fused": 0.9354361295700073,
208
+ "seg_l1": 0.012104746885597706,
209
+ "seg_ssim_ref": 0.9354348182678223,
210
+ "depth": 0.0021772989385132674,
211
+ "rgb_loss": 0.023907199501991272,
212
+ "seg_loss": 0.02259683422744274,
213
+ "total": 0.046506212891017674,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021772989385132674,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018358970287910452
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015462626703083515,
240
+ "ssim_fused": 0.9262745976448059,
241
+ "seg_l1": 0.015582868829369545,
242
+ "seg_ssim_ref": 0.9262731671333313,
243
+ "depth": 0.001699536360282606,
244
+ "rgb_loss": 0.02711518108844757,
245
+ "seg_loss": 0.027211662381887436,
246
+ "total": 0.05432854300669529,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.001699536360282606,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011903002491714947
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 495,
281
+ "adam_update_count": 78705
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3139127609319985
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_d3c2536bceb347b69e365a92d3f4d5ac_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 496,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78706,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 495,
300
+ "trained_intervals": 78705,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78705,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.6143412590026855,
333
+ "median": 5.095440864562988,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.0819629579782486,
347
+ "median": 0.0819629579782486,
348
+ "max": 0.0819629579782486,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.1505340188741684,
354
+ "median": 4.339614391326904,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009908708743751049,
361
+ "median": 163.27581787109375,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8602484464645386,
382
+ "median": 76.67822265625,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.0819629579782486,
410
+ "median": 0.0819629579782486,
411
+ "max": 0.0819629579782486,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23646,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0496.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0496",
5
+ "executed_epochs": 496,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_00f489a35a2e4eb1a3f6be8652cdbc65.npz",
37
+ "optimizer_file": "boundary_00f489a35a2e4eb1a3f6be8652cdbc65_optimizer.pt",
38
+ "arrays_sha256": "d442c07d890981f4df1e42a83c2c898f652062b7eae32a56aecbeaac27763c1a",
39
+ "optimizer_sha256": "e595f5fff938c9e1e58289433574551b0b5e68361edbffbb9b3a94ecb33916e2",
40
+ "stage": "adam",
41
+ "completed_passes": 496,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 78864,
45
+ "adam_update_count": 78864,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 497,
49
+ "consumed_count": 496,
50
+ "last_submitted_update": 78864,
51
+ "last_consumed_update": 78705,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 78864,
56
+ "completed_passes": 496,
57
+ "next_interval": 0,
58
+ "trained_intervals": 78864,
59
+ "snapshot": "pass_end_0496",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 496,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 78864,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 78864,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005172032979317009,
83
+ "update_l2": 0.18402732908725739
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004628104157745838,
91
+ "update_l2": 0.0008995309472084045
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.0466430214582942e-05,
95
+ "update_l2": 0.003010581946000457
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.0746971314230205,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23675,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08687587827444077,
117
+ "ground_restitution/effective": 0.08687587827444077,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.0746971314230205,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.02312469482421875,
129
+ "ssim_fused": 0.9082188010215759,
130
+ "seg_l1": 0.02435080148279667,
131
+ "seg_ssim_ref": 0.9082173705101013,
132
+ "depth": 0.0039675661565243105,
133
+ "rgb_loss": 0.03685599938035011,
134
+ "seg_loss": 0.03783716261386871,
135
+ "total": 0.0746971314230205
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.03049522638320923,
141
+ "ssim_fused": 0.8947920203208923,
142
+ "seg_l1": 0.02729024924337864,
143
+ "seg_ssim_ref": 0.8947911262512207,
144
+ "depth": 0.007263106060777532,
145
+ "rgb_loss": 0.0454377755522728,
146
+ "seg_loss": 0.04287397488951683,
147
+ "total": 0.08831900982256011,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.007263106060777532,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00441112797918031
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.031482163816690445,
174
+ "ssim_fused": 0.880119264125824,
175
+ "seg_l1": 0.04015931859612465,
176
+ "seg_ssim_ref": 0.8801171779632568,
177
+ "depth": 0.0041191199713697035,
178
+ "rgb_loss": 0.0491618812084198,
179
+ "seg_loss": 0.05610401928424835,
180
+ "total": 0.10527001961263951,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0041191199713697035,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0026756000060919258
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.0144156813621521,
207
+ "ssim_fused": 0.9337230324745178,
208
+ "seg_l1": 0.013164141215384007,
209
+ "seg_ssim_ref": 0.9337217807769775,
210
+ "depth": 0.0025353450077521197,
211
+ "rgb_loss": 0.024787940084934235,
212
+ "seg_loss": 0.023786956444382668,
213
+ "total": 0.0485774300116795,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0025353450077521197,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0021939430980298974
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.016105713322758675,
240
+ "ssim_fused": 0.9242408275604248,
241
+ "seg_l1": 0.016789495944976807,
242
+ "seg_ssim_ref": 0.924239456653595,
243
+ "depth": 0.0019526935861978888,
244
+ "rgb_loss": 0.02803640626370907,
245
+ "seg_loss": 0.02858370542526245,
246
+ "total": 0.056622066245202864,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0019526935861978888,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0014434574750867774
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 496,
281
+ "adam_update_count": 78864
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3135961745865643
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_00f489a35a2e4eb1a3f6be8652cdbc65_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 497,
293
+ "next_interval": 0,
294
+ "next_adam_update": 78865,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 496,
300
+ "trained_intervals": 78864,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 78864,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.616462230682373,
333
+ "median": 5.090063571929932,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08597634732723236,
347
+ "median": 0.08597634732723236,
348
+ "max": 0.08597634732723236,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.16442079842090607,
354
+ "median": 4.328695297241211,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009887714870274067,
361
+ "median": 162.4001922607422,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8483849763870239,
382
+ "median": 75.84544372558594,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08597634732723236,
410
+ "median": 0.08597634732723236,
411
+ "max": 0.08597634732723236,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23675,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0497.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0497",
5
+ "executed_epochs": 497,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_47ac2ec2d079434aa03ba73dff3dd948.npz",
37
+ "optimizer_file": "boundary_47ac2ec2d079434aa03ba73dff3dd948_optimizer.pt",
38
+ "arrays_sha256": "4de8766b006c3d72c78053dff6b34fc5a11fb1d88cdff40eca04ebb04b33d003",
39
+ "optimizer_sha256": "2e9d36ce31182af5756962ab34993eb20c8151fe3d511830557e504e0c2b7c73",
40
+ "stage": "adam",
41
+ "completed_passes": 497,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 79023,
45
+ "adam_update_count": 79023,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 498,
49
+ "consumed_count": 497,
50
+ "last_submitted_update": 79023,
51
+ "last_consumed_update": 78864,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 79023,
56
+ "completed_passes": 497,
57
+ "next_interval": 0,
58
+ "trained_intervals": 79023,
59
+ "snapshot": "pass_end_0497",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 497,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 79023,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 79023,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0004554566112346947,
83
+ "update_l2": 0.14761175215244293
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004414665512740612,
91
+ "update_l2": 0.0009493306279182434
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.742403194133658e-05,
95
+ "update_l2": 0.005108450539410114
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07204877021615896,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23698,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08423126488924026,
117
+ "ground_restitution/effective": 0.08423126488924026,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07204877021615896,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022267397493124008,
129
+ "ssim_fused": 0.9106457233428955,
130
+ "seg_l1": 0.02311154454946518,
131
+ "seg_ssim_ref": 0.9106444120407104,
132
+ "depth": 0.0036349043766013348,
133
+ "rgb_loss": 0.035684775561094284,
134
+ "seg_loss": 0.03636036068201065,
135
+ "total": 0.07204877021615896
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029538162052631378,
141
+ "ssim_fused": 0.8972460627555847,
142
+ "seg_l1": 0.026240501552820206,
143
+ "seg_ssim_ref": 0.897245466709137,
144
+ "depth": 0.006950874774473616,
145
+ "rgb_loss": 0.04418131709098816,
146
+ "seg_loss": 0.04154330864548683,
147
+ "total": 0.08573157288595916,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006950874774473616,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004098896692876394
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03028833493590355,
174
+ "ssim_fused": 0.8836740255355835,
175
+ "seg_l1": 0.038432732224464417,
176
+ "seg_ssim_ref": 0.8836721181869507,
177
+ "depth": 0.003686078878072763,
178
+ "rgb_loss": 0.04749586433172226,
179
+ "seg_loss": 0.054011762142181396,
180
+ "total": 0.10151131255278173,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003686078878072763,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0022425589127949854
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013791676610708237,
207
+ "ssim_fused": 0.9352437853813171,
208
+ "seg_l1": 0.01217934861779213,
209
+ "seg_ssim_ref": 0.9352424144744873,
210
+ "depth": 0.002197661787192337,
211
+ "rgb_loss": 0.02398458495736122,
212
+ "seg_loss": 0.022694997489452362,
213
+ "total": 0.04668178010860077,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002197661787192337,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018562598774701147
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015451418235898018,
240
+ "ssim_fused": 0.9264190196990967,
241
+ "seg_l1": 0.015593605116009712,
242
+ "seg_ssim_ref": 0.9264175295829773,
243
+ "depth": 0.0017050020666666223,
244
+ "rgb_loss": 0.02707733027637005,
245
+ "seg_loss": 0.02719137817621231,
246
+ "total": 0.05427041531729417,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017050020666666223,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0011957659555555113
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 497,
281
+ "adam_update_count": 79023
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.315725427120924
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_47ac2ec2d079434aa03ba73dff3dd948_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 498,
293
+ "next_interval": 0,
294
+ "next_adam_update": 79024,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 497,
300
+ "trained_intervals": 79023,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 79023,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.619405746459961,
333
+ "median": 5.085151672363281,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08328193426132202,
347
+ "median": 0.08328193426132202,
348
+ "max": 0.08328193426132202,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.16383500397205353,
354
+ "median": 4.323238372802734,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009858652949333191,
361
+ "median": 161.6044464111328,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8488820791244507,
382
+ "median": 75.43331909179688,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08328193426132202,
410
+ "median": 0.08328193426132202,
411
+ "max": 0.08328193426132202,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23698,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0498.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0498",
5
+ "executed_epochs": 498,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_885e2c6c64b0428787b86254911ece09.npz",
37
+ "optimizer_file": "boundary_885e2c6c64b0428787b86254911ece09_optimizer.pt",
38
+ "arrays_sha256": "08bf0ec0d5d4e9a6a14247e552ea7cd261c80fd090e267068d06f206a204821f",
39
+ "optimizer_sha256": "a6e46f801970a76627fda691b7f9889f4b83f9ad803e368298b3057b4df672be",
40
+ "stage": "adam",
41
+ "completed_passes": 498,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 79182,
45
+ "adam_update_count": 79182,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 499,
49
+ "consumed_count": 498,
50
+ "last_submitted_update": 79182,
51
+ "last_consumed_update": 79023,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 79182,
56
+ "completed_passes": 498,
57
+ "next_interval": 0,
58
+ "trained_intervals": 79182,
59
+ "snapshot": "pass_end_0498",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 498,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 79182,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 79182,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.00040925786015577614,
83
+ "update_l2": 0.1495542973279953
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004516799934208393,
91
+ "update_l2": 0.00099104642868042
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.461254487367114e-05,
95
+ "update_l2": 0.0036400079261511564
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07205983069521782,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23726,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08251417428255081,
117
+ "ground_restitution/effective": 0.08251417428255081,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07205983069521782,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022273875772953033,
129
+ "ssim_fused": 0.9106732606887817,
130
+ "seg_l1": 0.023132624104619026,
131
+ "seg_ssim_ref": 0.9106718897819519,
132
+ "depth": 0.003663867539139593,
133
+ "rgb_loss": 0.03568444773554802,
134
+ "seg_loss": 0.03637171909213066,
135
+ "total": 0.07205983069521782
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.029450146481394768,
141
+ "ssim_fused": 0.8975331783294678,
142
+ "seg_l1": 0.026096878573298454,
143
+ "seg_ssim_ref": 0.8975325226783752,
144
+ "depth": 0.006963185407575219,
145
+ "rgb_loss": 0.04405348002910614,
146
+ "seg_loss": 0.041370999068021774,
147
+ "total": 0.08543144600782579,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006963185407575219,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.004111207325977998
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.030282847583293915,
174
+ "ssim_fused": 0.8837020993232727,
175
+ "seg_l1": 0.0384175106883049,
176
+ "seg_ssim_ref": 0.8837001919746399,
177
+ "depth": 0.0037181251071212395,
178
+ "rgb_loss": 0.04748585820198059,
179
+ "seg_loss": 0.05399397015571594,
180
+ "total": 0.10148354648280365,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.0037181251071212395,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0022746051418434617
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013827867805957794,
207
+ "ssim_fused": 0.9350746870040894,
208
+ "seg_l1": 0.012242796830832958,
209
+ "seg_ssim_ref": 0.9350733160972595,
210
+ "depth": 0.0022282668800367453,
211
+ "rgb_loss": 0.024047356098890305,
212
+ "seg_loss": 0.022779574617743492,
213
+ "total": 0.046829157120868686,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0022282668800367453,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018868649703145232
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015534641221165657,
240
+ "ssim_fused": 0.9263830780982971,
241
+ "seg_l1": 0.015773311257362366,
242
+ "seg_ssim_ref": 0.9263815879821777,
243
+ "depth": 0.0017458927618251695,
244
+ "rgb_loss": 0.027151096612215042,
245
+ "seg_loss": 0.027342330664396286,
246
+ "total": 0.054495173169373155,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017458927618251695,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012366566507140586
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 498,
281
+ "adam_update_count": 79182
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3097188612446189
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_885e2c6c64b0428787b86254911ece09_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 499,
293
+ "next_interval": 0,
294
+ "next_adam_update": 79183,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 498,
300
+ "trained_intervals": 79182,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 79182,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.62170934677124,
333
+ "median": 5.081323623657227,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08152312785387039,
347
+ "median": 0.08152312785387039,
348
+ "max": 0.08152312785387039,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.17713023722171783,
354
+ "median": 4.3115644454956055,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009835968725383282,
361
+ "median": 160.98703002929688,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8376707434654236,
382
+ "median": 74.55704498291016,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08152312785387039,
410
+ "median": 0.08152312785387039,
411
+ "max": 0.08152312785387039,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23726,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0499.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0499",
5
+ "executed_epochs": 499,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_48244ad22d5f4c74b7f8a75541395ba0.npz",
37
+ "optimizer_file": "boundary_48244ad22d5f4c74b7f8a75541395ba0_optimizer.pt",
38
+ "arrays_sha256": "f24da8a36ea4ae434d26df06ced930609c3c47913cffa1714138be84e95c0a41",
39
+ "optimizer_sha256": "ec0eadab1d8f1f563d6388f5420e49aab41d7f2de69c0cfa2bb2afda9537c7bd",
40
+ "stage": "adam",
41
+ "completed_passes": 499,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 79341,
45
+ "adam_update_count": 79341,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 500,
49
+ "consumed_count": 499,
50
+ "last_submitted_update": 79341,
51
+ "last_consumed_update": 79182,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 79341,
56
+ "completed_passes": 499,
57
+ "next_interval": 0,
58
+ "trained_intervals": 79341,
59
+ "snapshot": "pass_end_0499",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 499,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 79341,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 79341,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0005313191213645041,
83
+ "update_l2": 0.1738785058259964
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004082635510712862,
91
+ "update_l2": 0.0006950795650482178
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.961133890901692e-05,
95
+ "update_l2": 0.005298062227666378
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07423522108676572,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23753,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08991286903619766,
117
+ "ground_restitution/effective": 0.08991286903619766,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07423522108676572,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.023011505603790283,
129
+ "ssim_fused": 0.9086417555809021,
130
+ "seg_l1": 0.024098150432109833,
131
+ "seg_ssim_ref": 0.9086403846740723,
132
+ "depth": 0.0039252403630792585,
133
+ "rgb_loss": 0.036680858582258224,
134
+ "seg_loss": 0.037550441920757294,
135
+ "total": 0.07423522108676572
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.030102398246526718,
141
+ "ssim_fused": 0.8959724307060242,
142
+ "seg_l1": 0.026517247781157494,
143
+ "seg_ssim_ref": 0.8959716558456421,
144
+ "depth": 0.0072147950702894014,
145
+ "rgb_loss": 0.04488743096590042,
146
+ "seg_loss": 0.04201946780085564,
147
+ "total": 0.08691410983653605,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.0072147950702894014,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00436281698869218
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.03184010833501816,
174
+ "ssim_fused": 0.8790274858474731,
175
+ "seg_l1": 0.04071151092648506,
176
+ "seg_ssim_ref": 0.8790255188941956,
177
+ "depth": 0.004159709332893188,
178
+ "rgb_loss": 0.04966659098863602,
179
+ "seg_loss": 0.05676410719752312,
180
+ "total": 0.10643485417020172,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.004159709332893188,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0027161893676154107
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.014411289244890213,
207
+ "ssim_fused": 0.933329701423645,
208
+ "seg_l1": 0.013088574633002281,
209
+ "seg_ssim_ref": 0.9333284497261047,
210
+ "depth": 0.002460761759931532,
211
+ "rgb_loss": 0.024863090366125107,
212
+ "seg_loss": 0.023805171251296997,
213
+ "total": 0.04867072237918203,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.002460761759931532,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.00211935985020931
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.015692228451371193,
240
+ "ssim_fused": 0.9262373447418213,
241
+ "seg_l1": 0.016075266525149345,
242
+ "seg_ssim_ref": 0.9262359738349915,
243
+ "depth": 0.0018656952892029141,
244
+ "rgb_loss": 0.027306314557790756,
245
+ "seg_loss": 0.027613017708063126,
246
+ "total": 0.05492119796114309,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0018656952892029141,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0013564591780918028
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 499,
281
+ "adam_update_count": 79341
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.32091742707416415
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_48244ad22d5f4c74b7f8a75541395ba0_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 500,
293
+ "next_interval": 0,
294
+ "next_adam_update": 79342,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 499,
300
+ "trained_intervals": 79341,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 79341,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.624791145324707,
333
+ "median": 5.075275421142578,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08921778947114944,
347
+ "median": 0.08921778947114944,
348
+ "max": 0.08921778947114944,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.15979965031147003,
354
+ "median": 4.327960014343262,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009805703535676003,
361
+ "median": 160.01629638671875,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8523145318031311,
382
+ "median": 75.79022216796875,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08921778947114944,
410
+ "median": 0.08921778947114944,
411
+ "max": 0.08921778947114944,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23753,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_end_0500.json ADDED
@@ -0,0 +1,423 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "deform360_e2_photometric_adam_v1",
4
+ "label": "pass_end_0500",
5
+ "executed_epochs": 500,
6
+ "score": null,
7
+ "best_score": 0.06102291671968673,
8
+ "patience_epochs": 0,
9
+ "window_start_score": null,
10
+ "leaf_names": [
11
+ "log_object_edge_stiffness",
12
+ "raw_ground_friction",
13
+ "raw_ground_restitution",
14
+ "log_controller_edge_stiffness"
15
+ ],
16
+ "lr": 0.001,
17
+ "betas": [
18
+ 0.9,
19
+ 0.99
20
+ ],
21
+ "eps": 1e-08,
22
+ "spring_y_clamp": [
23
+ 0.0,
24
+ 100000.0
25
+ ],
26
+ "ground_restitution_clamp": [
27
+ 0.0,
28
+ 1.0
29
+ ],
30
+ "ground_friction_clamp": [
31
+ 0.0,
32
+ 2.0
33
+ ],
34
+ "clamp_at_use_only": true,
35
+ "metric_role": "all_data_in_sample",
36
+ "arrays_file": "boundary_a8b9444847f3467e8058385305a69584.npz",
37
+ "optimizer_file": "boundary_a8b9444847f3467e8058385305a69584_optimizer.pt",
38
+ "arrays_sha256": "06d1002abcffbef14c736d95b58bd101d213183d45b659805b3fce7f77739d76",
39
+ "optimizer_sha256": "9557c00818812a8160b19720376890399492771f5b1a039957c61b5fc1c3c702",
40
+ "stage": "adam",
41
+ "completed_passes": 500,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 79500,
45
+ "adam_update_count": 79500,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 501,
49
+ "consumed_count": 500,
50
+ "last_submitted_update": 79500,
51
+ "last_consumed_update": 79341,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 79500,
56
+ "completed_passes": 500,
57
+ "next_interval": 0,
58
+ "trained_intervals": 79500,
59
+ "snapshot": "pass_end_0500",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 70596,
67
+ "pass_science": {
68
+ "completed_passes": 500,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 79500,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 79500,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006289308176100629,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 0.0003295432834420353,
83
+ "update_l2": 0.15209102630615234
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 0.004227242432534695,
91
+ "update_l2": 0.0008778274059295654
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.9295906895422377e-05,
95
+ "update_l2": 0.0044332463294267654
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
101
+ "transition_index": 158,
102
+ "loss": 0.07171255772742262,
103
+ "weight": 0.006289308176100629
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "dead_counts": {
108
+ "object": 23786,
109
+ "attachment": 51,
110
+ "ground": 1
111
+ },
112
+ "ground_context": {
113
+ "ground_friction/raw": 2.0076630115509033,
114
+ "ground_friction/effective": 2.0,
115
+ "ground_friction/clamp_changed": 1,
116
+ "ground_restitution/raw": 0.08553966134786606,
117
+ "ground_restitution/effective": 0.08553966134786606,
118
+ "ground_restitution/clamp_changed": 0,
119
+ "ground_friction/contact_active": 1,
120
+ "ground_restitution/contact_active": 1
121
+ },
122
+ "photometric_transition": {
123
+ "transition_index": 158,
124
+ "loss": 0.07171255772742262,
125
+ "state_finite": true,
126
+ "frame_index": 204,
127
+ "components": {
128
+ "l1": 0.022146856412291527,
129
+ "ssim_fused": 0.9110358357429504,
130
+ "seg_l1": 0.023006904870271683,
131
+ "seg_ssim_ref": 0.9110344648361206,
132
+ "depth": 0.0036084446572296693,
133
+ "rgb_loss": 0.03551032021641731,
134
+ "seg_loss": 0.036198630928993225,
135
+ "total": 0.07171255772742262
136
+ },
137
+ "views": [
138
+ {
139
+ "camera": "brics-odroid-015_cam0",
140
+ "l1": 0.02932664565742016,
141
+ "ssim_fused": 0.8979105353355408,
142
+ "seg_l1": 0.026095861569046974,
143
+ "seg_ssim_ref": 0.8979098200798035,
144
+ "depth": 0.006896746683595572,
145
+ "rgb_loss": 0.04387921094894409,
146
+ "seg_loss": 0.04129472374916077,
147
+ "total": 0.08518083144478845,
148
+ "valid_depth_pixels": 236004,
149
+ "excluded_depth_pixels": 685596,
150
+ "object_depth_holes": 320,
151
+ "depth_full_image_mean_m": 0.006896746683595572,
152
+ "depth_decomposition": {
153
+ "object_visible": {
154
+ "pixels": 229806,
155
+ "full_image_mean_m": 0.00404476860199835
156
+ },
157
+ "object_occluded": {
158
+ "pixels": 6198,
159
+ "full_image_mean_m": 0.002851978081597222
160
+ },
161
+ "nonobject_visible": {
162
+ "pixels": 0,
163
+ "full_image_mean_m": 0.0
164
+ },
165
+ "nonobject_occluded": {
166
+ "pixels": 0,
167
+ "full_image_mean_m": 0.0
168
+ }
169
+ }
170
+ },
171
+ {
172
+ "camera": "brics-odroid-022_cam1",
173
+ "l1": 0.02986523136496544,
174
+ "ssim_fused": 0.8850258588790894,
175
+ "seg_l1": 0.03783421218395233,
176
+ "seg_ssim_ref": 0.8850238919258118,
177
+ "depth": 0.003613589970418769,
178
+ "rgb_loss": 0.04688701406121254,
179
+ "seg_loss": 0.05326259136199951,
180
+ "total": 0.10015321528789217,
181
+ "valid_depth_pixels": 154174,
182
+ "excluded_depth_pixels": 767426,
183
+ "object_depth_holes": 696,
184
+ "depth_full_image_mean_m": 0.003613589970418769,
185
+ "depth_decomposition": {
186
+ "object_visible": {
187
+ "pixels": 151377,
188
+ "full_image_mean_m": 0.0021700700051409914
189
+ },
190
+ "object_occluded": {
191
+ "pixels": 2797,
192
+ "full_image_mean_m": 0.0014435199652777777
193
+ },
194
+ "nonobject_visible": {
195
+ "pixels": 0,
196
+ "full_image_mean_m": 0.0
197
+ },
198
+ "nonobject_occluded": {
199
+ "pixels": 0,
200
+ "full_image_mean_m": 0.0
201
+ }
202
+ }
203
+ },
204
+ {
205
+ "camera": "brics-odroid-023_cam0",
206
+ "l1": 0.013754471205174923,
207
+ "ssim_fused": 0.9353041648864746,
208
+ "seg_l1": 0.012177929282188416,
209
+ "seg_ssim_ref": 0.935302734375,
210
+ "depth": 0.0021825402207038777,
211
+ "rgb_loss": 0.023942744359374046,
212
+ "seg_loss": 0.022681796923279762,
213
+ "total": 0.04662672382287451,
214
+ "valid_depth_pixels": 101589,
215
+ "excluded_depth_pixels": 820011,
216
+ "object_depth_holes": 324,
217
+ "depth_full_image_mean_m": 0.0021825402207038777,
218
+ "depth_decomposition": {
219
+ "object_visible": {
220
+ "pixels": 101032,
221
+ "full_image_mean_m": 0.0018411383109816558
222
+ },
223
+ "object_occluded": {
224
+ "pixels": 557,
225
+ "full_image_mean_m": 0.00034140190972222227
226
+ },
227
+ "nonobject_visible": {
228
+ "pixels": 0,
229
+ "full_image_mean_m": 0.0
230
+ },
231
+ "nonobject_occluded": {
232
+ "pixels": 0,
233
+ "full_image_mean_m": 0.0
234
+ }
235
+ }
236
+ },
237
+ {
238
+ "camera": "brics-odroid-001_cam0",
239
+ "l1": 0.01564108021557331,
240
+ "ssim_fused": 0.925902783870697,
241
+ "seg_l1": 0.015919620171189308,
242
+ "seg_ssim_ref": 0.9259014129638672,
243
+ "depth": 0.0017409017542004586,
244
+ "rgb_loss": 0.027332307770848274,
245
+ "seg_loss": 0.02755541354417801,
246
+ "total": 0.05488946035413533,
247
+ "valid_depth_pixels": 101999,
248
+ "excluded_depth_pixels": 819601,
249
+ "object_depth_holes": 508,
250
+ "depth_full_image_mean_m": 0.0017409017542004586,
251
+ "depth_decomposition": {
252
+ "object_visible": {
253
+ "pixels": 100825,
254
+ "full_image_mean_m": 0.0012316656430893472
255
+ },
256
+ "object_occluded": {
257
+ "pixels": 1174,
258
+ "full_image_mean_m": 0.0005092361111111111
259
+ },
260
+ "nonobject_visible": {
261
+ "pixels": 0,
262
+ "full_image_mean_m": 0.0
263
+ },
264
+ "nonobject_occluded": {
265
+ "pixels": 0,
266
+ "full_image_mean_m": 0.0
267
+ }
268
+ }
269
+ }
270
+ ],
271
+ "frame_indices": [
272
+ 203,
273
+ 204
274
+ ],
275
+ "times_s": [
276
+ 5.266666666666667,
277
+ 5.3
278
+ ]
279
+ },
280
+ "completed_passes": 500,
281
+ "adam_update_count": 79500
282
+ }
283
+ ],
284
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
285
+ "wall_time_s": 0.3250639792531729
286
+ },
287
+ "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",
288
+ "execution_mode": "atomic_captured",
289
+ "rng_file": "boundary_a8b9444847f3467e8058385305a69584_rng.pt",
290
+ "rng_sha256": "0d93a840fb5bc1eb028aafd71ce5ed11c040122677db7cc2d20dc63142977808",
291
+ "resume_boundary": "detached_observation_interval",
292
+ "next_pass": 501,
293
+ "next_interval": 0,
294
+ "next_adam_update": 79501,
295
+ "schedule_id": "source_transition_v1",
296
+ "adam_schedule": "source_transition_v1",
297
+ "source_cursor": {
298
+ "next_interval": 0,
299
+ "completed_passes": 500,
300
+ "trained_intervals": 79500,
301
+ "source_timestamp_s": 5.3,
302
+ "next_source_timestamp_s": 0.0,
303
+ "update_budget": 79500
304
+ },
305
+ "trained_intervals": 79500,
306
+ "source_timestamp_s": 5.3,
307
+ "archive_axis": "optimizer_update",
308
+ "objective_carry_names": [
309
+ "canonical_colors",
310
+ "canonical_means",
311
+ "canonical_opacities",
312
+ "canonical_particles",
313
+ "canonical_quats",
314
+ "canonical_scales",
315
+ "committed_means",
316
+ "committed_particles",
317
+ "committed_quats",
318
+ "frame_index",
319
+ "gaussian_supports",
320
+ "node_ids",
321
+ "particle_relations",
322
+ "particle_state_id",
323
+ "prepared",
324
+ "registration",
325
+ "state_id",
326
+ "time_s"
327
+ ],
328
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
329
+ "collision_distance_m": null,
330
+ "parameter_summary": {
331
+ "log_object_edge_stiffness": {
332
+ "min": -4.627521991729736,
333
+ "median": 5.069622993469238,
334
+ "max": 11.534575462341309,
335
+ "finite_count": 208310,
336
+ "nonfinite_count": 0
337
+ },
338
+ "raw_ground_friction": {
339
+ "min": 2.0076630115509033,
340
+ "median": 2.0076630115509033,
341
+ "max": 2.0076630115509033,
342
+ "finite_count": 1,
343
+ "nonfinite_count": 0
344
+ },
345
+ "raw_ground_restitution": {
346
+ "min": 0.08466183394193649,
347
+ "median": 0.08466183394193649,
348
+ "max": 0.08466183394193649,
349
+ "finite_count": 1,
350
+ "nonfinite_count": 0
351
+ },
352
+ "log_controller_edge_stiffness": {
353
+ "min": -0.16606219112873077,
354
+ "median": 4.3176164627075195,
355
+ "max": 11.527169227600098,
356
+ "finite_count": 436,
357
+ "nonfinite_count": 0
358
+ },
359
+ "effective_object_edge_stiffness": {
360
+ "min": 0.009778961539268494,
361
+ "median": 159.11428833007812,
362
+ "max": 100000.0,
363
+ "finite_count": 208310,
364
+ "nonfinite_count": 0
365
+ },
366
+ "object_edge_enabled": {
367
+ "min": 1.0,
368
+ "median": 1.0,
369
+ "max": 1.0,
370
+ "finite_count": 208310,
371
+ "nonfinite_count": 0
372
+ },
373
+ "object_edge_cap_mask": {
374
+ "min": 0.0,
375
+ "median": 0.0,
376
+ "max": 1.0,
377
+ "finite_count": 208310,
378
+ "nonfinite_count": 0
379
+ },
380
+ "effective_controller_edge_stiffness": {
381
+ "min": 0.8469935655593872,
382
+ "median": 75.0098648071289,
383
+ "max": 100000.0,
384
+ "finite_count": 436,
385
+ "nonfinite_count": 0
386
+ },
387
+ "controller_edge_enabled": {
388
+ "min": 1.0,
389
+ "median": 1.0,
390
+ "max": 1.0,
391
+ "finite_count": 436,
392
+ "nonfinite_count": 0
393
+ },
394
+ "controller_edge_cap_mask": {
395
+ "min": 0.0,
396
+ "median": 0.0,
397
+ "max": 1.0,
398
+ "finite_count": 436,
399
+ "nonfinite_count": 0
400
+ },
401
+ "effective_ground_friction": {
402
+ "min": 2.0,
403
+ "median": 2.0,
404
+ "max": 2.0,
405
+ "finite_count": 1,
406
+ "nonfinite_count": 0
407
+ },
408
+ "effective_ground_restitution": {
409
+ "min": 0.08466183394193649,
410
+ "median": 0.08466183394193649,
411
+ "max": 0.08466183394193649,
412
+ "finite_count": 1,
413
+ "nonfinite_count": 0
414
+ }
415
+ },
416
+ "guard_affected_counts": {
417
+ "raw_ground_friction": 1,
418
+ "raw_ground_restitution": 0,
419
+ "object_edge_stiffness": 23786,
420
+ "controller_edge_stiffness": 51
421
+ },
422
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
423
+ }
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0000.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0001.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0002.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0003.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0004.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0005.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0006.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0007.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0008.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0009.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0010.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0011.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0012.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0013.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0014.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0015.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0016.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0017.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0018.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0019.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0020.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0021.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0022.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/native/adam_epochs/pass_scores/pass_end_0023.json ADDED
The diff for this file is too large to render. See raw diff