serialexperimentsleon commited on
Commit
d9d1daf
·
verified ·
1 Parent(s): bda6daa

processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking: payload batch 16/29

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/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fcd951254a8c40598cae7a3ca49f2beb_optimizer.pt +3 -0
  2. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fcd951254a8c40598cae7a3ca49f2beb_rng.pt +3 -0
  3. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9.npz +3 -0
  4. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9_optimizer.pt +3 -0
  5. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9_rng.pt +3 -0
  6. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3.npz +3 -0
  7. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3_optimizer.pt +3 -0
  8. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3_rng.pt +3 -0
  9. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f.npz +3 -0
  10. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f_optimizer.pt +3 -0
  11. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f_rng.pt +3 -0
  12. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496.npz +3 -0
  13. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496_optimizer.pt +3 -0
  14. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496_rng.pt +3 -0
  15. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878.npz +3 -0
  16. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878_optimizer.pt +3 -0
  17. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878_rng.pt +3 -0
  18. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_previous.json +242 -0
  19. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/checkpoint_io.json +0 -0
  20. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0000.json +185 -0
  21. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0001.json +254 -0
  22. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0002.json +254 -0
  23. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0003.json +254 -0
  24. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0004.json +254 -0
  25. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0005.json +254 -0
  26. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0006.json +254 -0
  27. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0007.json +254 -0
  28. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0008.json +254 -0
  29. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0009.json +254 -0
  30. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0010.json +254 -0
  31. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0011.json +254 -0
  32. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0012.json +254 -0
  33. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0013.json +254 -0
  34. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0014.json +254 -0
  35. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0015.json +254 -0
  36. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0016.json +254 -0
  37. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0017.json +254 -0
  38. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0018.json +254 -0
  39. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0019.json +254 -0
  40. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0020.json +254 -0
  41. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0021.json +254 -0
  42. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0022.json +254 -0
  43. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0023.json +254 -0
  44. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0024.json +254 -0
  45. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0025.json +254 -0
  46. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0026.json +254 -0
  47. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0027.json +254 -0
  48. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0028.json +254 -0
  49. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0029.json +254 -0
  50. processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0030.json +254 -0
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fcd951254a8c40598cae7a3ca49f2beb_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f26969c54cb9f869a6b1bebd45e57058ff6173c375c8d4a08478849da13e3c6a
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fcd951254a8c40598cae7a3ca49f2beb_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7305f8247b8a6032c97fad6732418d9995f56facef8283915aad7f11bb39565e
3
+ size 127734
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d0d0a7fc5ef76e0e3b6b1ac6ec896b5486f1d89b11c20941fcb0072158a7b73
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fda6f6bfb2c04589817e4f23742cbfc9_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76c45886472aaccfb4946a37a5e2fbfa23502a6b006a9bf6fc8b3f21ebd115c1
3
+ size 130522
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fed27da2af9a07e1ba776225d5139b2614c7d8afbe329da8b4940d470da5c32
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fde86efbb0d84c0da78f0f356efe95a3_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3dc0a3980380bd917073d5150717ba5c428be45785a29c545cff1fd1f649b814
3
+ size 130938
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8a62510208ac2e717cba96fe4d310ea0d1656c38cbda956706a5499947272f9
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe2594e291f24e9491b03f244596669f_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1c397e060c9c1d8ba1a017f6eeca5eb83d44723ff80fa0f658af5cfbca608b8
3
+ size 132202
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c83c1b761186636bba1e16256752860751906ed4c2587039d6909e900a48832a
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_fe5fdbd06cae4535a273f78c09541496_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3ddb7236c8c01db0fb93bb722a846de2131ea6dc88043f8e62ddc43840bd70c6
3
+ size 132399
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878_optimizer.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a7a4c131ffd8e1416be68ceac3ec6df5f7860a3251bdcc9e0e3cd603b913499c
3
+ size 115943
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_ffd1d575676242f2bbfece0370a63878_rng.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5
3
+ size 14805
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/boundary_previous.json ADDED
@@ -0,0 +1,242 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "boundary",
5
+ "executed_epochs": 499,
6
+ "score": null,
7
+ "best_score": 9.522169138250889e-05,
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_5554d1a105594d56a03af03f58c84d81.npz",
37
+ "optimizer_file": "boundary_5554d1a105594d56a03af03f58c84d81_optimizer.pt",
38
+ "arrays_sha256": "f3900e88961d4539401c5c50a9665a3fbe9f89d6ee41251bb2bf9deebe209a2d",
39
+ "optimizer_sha256": "7a8902c0c9429c842e294ca5da8336ba754ed36e5cb0484cff04eada75e9de22",
40
+ "stage": "adam",
41
+ "completed_passes": 499,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 82999,
45
+ "adam_update_count": 82999,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 500,
49
+ "consumed_count": 500,
50
+ "last_submitted_update": 82834,
51
+ "last_consumed_update": 82834,
52
+ "pending": []
53
+ },
54
+ "best_source_update": 81506,
55
+ "pass_science": {
56
+ "completed_passes": 499,
57
+ "adam_schedule": "source_transition_v1",
58
+ "next_interval": 165,
59
+ "trained_intervals": 82999,
60
+ "adam_transition_batch_size": 1,
61
+ "optimizer_updates": 1,
62
+ "cumulative_optimizer_updates": 82999,
63
+ "updates": [
64
+ {
65
+ "batch_transition_count": 1,
66
+ "batch_weight_sum": 0.006024096385542169,
67
+ "lr": 0.001,
68
+ "leaf_metrics": {
69
+ "log_object_edge_stiffness": {
70
+ "gradient_l2": 1.1072162351410952e-06,
71
+ "update_l2": 0.008233800530433655
72
+ },
73
+ "raw_ground_friction": {
74
+ "gradient_l2": 0.0,
75
+ "update_l2": 0.0
76
+ },
77
+ "raw_ground_restitution": {
78
+ "gradient_l2": 0.0,
79
+ "update_l2": 0.0
80
+ },
81
+ "log_controller_edge_stiffness": {
82
+ "gradient_l2": 4.2527869936748175e-07,
83
+ "update_l2": 0.0024081789888441563
84
+ }
85
+ },
86
+ "training_path_transitions": [
87
+ {
88
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
89
+ "transition_index": 164,
90
+ "loss": 0.00012137929297750816,
91
+ "weight": 0.006024096385542169
92
+ }
93
+ ],
94
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
95
+ "observation_transition": {
96
+ "transition_index": 164,
97
+ "loss": 0.00012137929297750816,
98
+ "observation_loss": 0.00012137929297750816,
99
+ "chamfer": 5.5897311540320516e-05,
100
+ "track": 6.548198143718764e-05,
101
+ "acceleration": 0.0,
102
+ "visible_count": 1327,
103
+ "motion_valid_count": 1327,
104
+ "n_nodes": 1327,
105
+ "state_finite": true,
106
+ "frame_indices": [
107
+ 228,
108
+ 229
109
+ ],
110
+ "times_s": [
111
+ 5.466666666666667,
112
+ 5.5
113
+ ],
114
+ "finite": true,
115
+ "frozen_visible_denominator": 1327,
116
+ "frozen_motion_denominator": 1327
117
+ },
118
+ "completed_passes": 499,
119
+ "adam_update_count": 82999
120
+ }
121
+ ],
122
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
123
+ "wall_time_s": 0.03307298896834254
124
+ },
125
+ "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",
126
+ "execution_mode": "atomic_captured",
127
+ "rng_file": "boundary_5554d1a105594d56a03af03f58c84d81_rng.pt",
128
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
129
+ "resume_boundary": "detached_observation_interval",
130
+ "next_pass": 500,
131
+ "next_interval": 165,
132
+ "next_adam_update": 83000,
133
+ "schedule_id": "source_transition_v1",
134
+ "adam_schedule": "source_transition_v1",
135
+ "source_cursor": {
136
+ "next_interval": 165,
137
+ "completed_passes": 499,
138
+ "trained_intervals": 82999,
139
+ "source_timestamp_s": 5.5,
140
+ "next_source_timestamp_s": 5.5,
141
+ "update_budget": 83000
142
+ },
143
+ "trained_intervals": 82999,
144
+ "source_timestamp_s": 5.5,
145
+ "archive_axis": "optimizer_update",
146
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
147
+ "collision_distance_m": null,
148
+ "parameter_summary": {
149
+ "log_object_edge_stiffness": {
150
+ "min": -0.6702163219451904,
151
+ "median": 7.346822261810303,
152
+ "max": 11.530586242675781,
153
+ "finite_count": 13559,
154
+ "nonfinite_count": 0
155
+ },
156
+ "raw_ground_friction": {
157
+ "min": 2.0090935230255127,
158
+ "median": 2.0090935230255127,
159
+ "max": 2.0090935230255127,
160
+ "finite_count": 1,
161
+ "nonfinite_count": 0
162
+ },
163
+ "raw_ground_restitution": {
164
+ "min": 1.0052064657211304,
165
+ "median": 1.0052064657211304,
166
+ "max": 1.0052064657211304,
167
+ "finite_count": 1,
168
+ "nonfinite_count": 0
169
+ },
170
+ "log_controller_edge_stiffness": {
171
+ "min": -2.199953556060791,
172
+ "median": 5.331761360168457,
173
+ "max": 11.5305757522583,
174
+ "finite_count": 300,
175
+ "nonfinite_count": 0
176
+ },
177
+ "effective_object_edge_stiffness": {
178
+ "min": 0.5115978717803955,
179
+ "median": 1551.2591552734375,
180
+ "max": 100000.0,
181
+ "finite_count": 13559,
182
+ "nonfinite_count": 0
183
+ },
184
+ "object_edge_enabled": {
185
+ "min": 1.0,
186
+ "median": 1.0,
187
+ "max": 1.0,
188
+ "finite_count": 13559,
189
+ "nonfinite_count": 0
190
+ },
191
+ "object_edge_cap_mask": {
192
+ "min": 0.0,
193
+ "median": 0.0,
194
+ "max": 1.0,
195
+ "finite_count": 13559,
196
+ "nonfinite_count": 0
197
+ },
198
+ "effective_controller_edge_stiffness": {
199
+ "min": 0.11080830544233322,
200
+ "median": 206.80267333984375,
201
+ "max": 100000.0,
202
+ "finite_count": 300,
203
+ "nonfinite_count": 0
204
+ },
205
+ "controller_edge_enabled": {
206
+ "min": 1.0,
207
+ "median": 1.0,
208
+ "max": 1.0,
209
+ "finite_count": 300,
210
+ "nonfinite_count": 0
211
+ },
212
+ "controller_edge_cap_mask": {
213
+ "min": 0.0,
214
+ "median": 0.0,
215
+ "max": 1.0,
216
+ "finite_count": 300,
217
+ "nonfinite_count": 0
218
+ },
219
+ "effective_ground_friction": {
220
+ "min": 2.0,
221
+ "median": 2.0,
222
+ "max": 2.0,
223
+ "finite_count": 1,
224
+ "nonfinite_count": 0
225
+ },
226
+ "effective_ground_restitution": {
227
+ "min": 1.0,
228
+ "median": 1.0,
229
+ "max": 1.0,
230
+ "finite_count": 1,
231
+ "nonfinite_count": 0
232
+ }
233
+ },
234
+ "guard_affected_counts": {
235
+ "raw_ground_friction": 1,
236
+ "raw_ground_restitution": 1,
237
+ "object_edge_stiffness": 458,
238
+ "controller_edge_stiffness": 23
239
+ },
240
+ "scored_object_model_file": "../cma_champion_model.json",
241
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
242
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/checkpoint_io.json ADDED
The diff for this file is too large to render. See raw diff
 
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0000.json ADDED
@@ -0,0 +1,185 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0000",
5
+ "executed_epochs": 0,
6
+ "score": null,
7
+ "best_score": null,
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": "theta_0_66070aa49bfe4df18aa84f00b1165513.npz",
37
+ "optimizer_file": "theta_0_66070aa49bfe4df18aa84f00b1165513_optimizer.pt",
38
+ "arrays_sha256": "b443699502311e3c12dbb9c24bc011a6ea004c657febcb9763f7848ba9feac72",
39
+ "optimizer_sha256": "786f410e8df8fb1bdf1d7764d8603223afb5d15601dab4c2bd61a151637dc694",
40
+ "stage": "adam",
41
+ "completed_passes": 0,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 0,
45
+ "adam_update_count": 0,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 1,
49
+ "consumed_count": 0,
50
+ "last_submitted_update": 0,
51
+ "last_consumed_update": -1,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 0,
56
+ "completed_passes": 0,
57
+ "next_interval": 0,
58
+ "trained_intervals": 0,
59
+ "snapshot": "pass_end_0000",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": null,
67
+ "pass_science": null,
68
+ "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",
69
+ "execution_mode": "atomic_captured",
70
+ "rng_file": "theta_0_66070aa49bfe4df18aa84f00b1165513_rng.pt",
71
+ "rng_sha256": "30b02df67b9a4783a84cd2e3fcf7024b6724d082cf21a2cfa0e4a339abdebbde",
72
+ "resume_boundary": "detached_observation_interval",
73
+ "next_pass": 1,
74
+ "next_interval": 0,
75
+ "next_adam_update": 1,
76
+ "schedule_id": "source_transition_v1",
77
+ "adam_schedule": "source_transition_v1",
78
+ "source_cursor": {
79
+ "next_interval": 0,
80
+ "completed_passes": 0,
81
+ "trained_intervals": 0,
82
+ "source_timestamp_s": 0.0,
83
+ "next_source_timestamp_s": 0.0,
84
+ "update_budget": 83000
85
+ },
86
+ "trained_intervals": 0,
87
+ "source_timestamp_s": 0.0,
88
+ "archive_axis": "optimizer_update",
89
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
90
+ "collision_distance_m": null,
91
+ "parameter_summary": {
92
+ "log_object_edge_stiffness": {
93
+ "min": 7.078468322753906,
94
+ "median": 7.078468322753906,
95
+ "max": 7.078468322753906,
96
+ "finite_count": 13559,
97
+ "nonfinite_count": 0
98
+ },
99
+ "raw_ground_friction": {
100
+ "min": 1.9949841499328613,
101
+ "median": 1.9949841499328613,
102
+ "max": 1.9949841499328613,
103
+ "finite_count": 1,
104
+ "nonfinite_count": 0
105
+ },
106
+ "raw_ground_restitution": {
107
+ "min": 0.6951579451560974,
108
+ "median": 0.6951579451560974,
109
+ "max": 0.6951579451560974,
110
+ "finite_count": 1,
111
+ "nonfinite_count": 0
112
+ },
113
+ "log_controller_edge_stiffness": {
114
+ "min": 7.078468322753906,
115
+ "median": 7.078468322753906,
116
+ "max": 7.078468322753906,
117
+ "finite_count": 300,
118
+ "nonfinite_count": 0
119
+ },
120
+ "effective_object_edge_stiffness": {
121
+ "min": 1186.150390625,
122
+ "median": 1186.150390625,
123
+ "max": 1186.150390625,
124
+ "finite_count": 13559,
125
+ "nonfinite_count": 0
126
+ },
127
+ "object_edge_enabled": {
128
+ "min": 1.0,
129
+ "median": 1.0,
130
+ "max": 1.0,
131
+ "finite_count": 13559,
132
+ "nonfinite_count": 0
133
+ },
134
+ "object_edge_cap_mask": {
135
+ "min": 0.0,
136
+ "median": 0.0,
137
+ "max": 0.0,
138
+ "finite_count": 13559,
139
+ "nonfinite_count": 0
140
+ },
141
+ "effective_controller_edge_stiffness": {
142
+ "min": 1186.150390625,
143
+ "median": 1186.150390625,
144
+ "max": 1186.150390625,
145
+ "finite_count": 300,
146
+ "nonfinite_count": 0
147
+ },
148
+ "controller_edge_enabled": {
149
+ "min": 1.0,
150
+ "median": 1.0,
151
+ "max": 1.0,
152
+ "finite_count": 300,
153
+ "nonfinite_count": 0
154
+ },
155
+ "controller_edge_cap_mask": {
156
+ "min": 0.0,
157
+ "median": 0.0,
158
+ "max": 0.0,
159
+ "finite_count": 300,
160
+ "nonfinite_count": 0
161
+ },
162
+ "effective_ground_friction": {
163
+ "min": 1.9949841499328613,
164
+ "median": 1.9949841499328613,
165
+ "max": 1.9949841499328613,
166
+ "finite_count": 1,
167
+ "nonfinite_count": 0
168
+ },
169
+ "effective_ground_restitution": {
170
+ "min": 0.6951579451560974,
171
+ "median": 0.6951579451560974,
172
+ "max": 0.6951579451560974,
173
+ "finite_count": 1,
174
+ "nonfinite_count": 0
175
+ }
176
+ },
177
+ "guard_affected_counts": {
178
+ "raw_ground_friction": 0,
179
+ "raw_ground_restitution": 0,
180
+ "object_edge_stiffness": 0,
181
+ "controller_edge_stiffness": 0
182
+ },
183
+ "scored_object_model_file": "../cma_champion_model.json",
184
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
185
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0001.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0001",
5
+ "executed_epochs": 1,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_8c22a320c7544327b506b1db6da8967e.npz",
37
+ "optimizer_file": "boundary_8c22a320c7544327b506b1db6da8967e_optimizer.pt",
38
+ "arrays_sha256": "a6907102fea89afcd766d5648d9f2ea2fc09ff9b82f7d4c257d5deefa5f2b14e",
39
+ "optimizer_sha256": "5174adedd3bc7bae91b964db72289fe9f81666b0f1035925ed5898c823a7e2b0",
40
+ "stage": "adam",
41
+ "completed_passes": 1,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 166,
45
+ "adam_update_count": 166,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 2,
49
+ "consumed_count": 1,
50
+ "last_submitted_update": 166,
51
+ "last_consumed_update": 0,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 166,
56
+ "completed_passes": 1,
57
+ "next_interval": 0,
58
+ "trained_intervals": 166,
59
+ "snapshot": "pass_end_0001",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 1,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 166,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 166,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.873214046099747e-06,
83
+ "update_l2": 0.030504604801535606
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.734821211130111e-07,
91
+ "update_l2": 0.0008947253227233887
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.5243126603745623e-06,
95
+ "update_l2": 0.008920038118958473
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0002787415578495711,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0002787415578495711,
110
+ "observation_loss": 0.0002787415578495711,
111
+ "chamfer": 0.0001136216742452234,
112
+ "track": 0.0001651198836043477,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 1,
131
+ "adam_update_count": 166
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.032937618903815746
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_8c22a320c7544327b506b1db6da8967e_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 2,
143
+ "next_interval": 0,
144
+ "next_adam_update": 167,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 1,
150
+ "trained_intervals": 166,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 166,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.898074150085449,
163
+ "median": 7.079976558685303,
164
+ "max": 7.233304500579834,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.6451543569564819,
177
+ "median": 0.6451543569564819,
178
+ "max": 0.6451543569564819,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.891423225402832,
184
+ "median": 7.065443992614746,
185
+ "max": 7.246078968048096,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 990.3655395507812,
191
+ "median": 1187.940673828125,
192
+ "max": 1384.791015625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 983.8006591796875,
212
+ "median": 1170.802001953125,
213
+ "max": 1402.594482421875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.6451543569564819,
240
+ "median": 0.6451543569564819,
241
+ "max": 0.6451543569564819,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0002.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0002",
5
+ "executed_epochs": 2,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_4e57404aade44be387d191830c5533ec.npz",
37
+ "optimizer_file": "boundary_4e57404aade44be387d191830c5533ec_optimizer.pt",
38
+ "arrays_sha256": "4b143a7a698a35ac93d6d40ab58d5dc200203c5fd81062176be7365cbf534cbc",
39
+ "optimizer_sha256": "a09032a26d8a246e98d0fa4e29082afb6bc12c16b77846704acd744fd2b25db9",
40
+ "stage": "adam",
41
+ "completed_passes": 2,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 332,
45
+ "adam_update_count": 332,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 3,
49
+ "consumed_count": 2,
50
+ "last_submitted_update": 332,
51
+ "last_consumed_update": 166,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 332,
56
+ "completed_passes": 2,
57
+ "next_interval": 0,
58
+ "trained_intervals": 332,
59
+ "snapshot": "pass_end_0002",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 2,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 332,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 332,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6787946606200421e-06,
83
+ "update_l2": 0.028981808573007584
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 2.1311501541276812e-07,
91
+ "update_l2": 0.0006412863731384277
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.1695140023657586e-06,
95
+ "update_l2": 0.00934427697211504
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.000267737137619406,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.000267737137619406,
110
+ "observation_loss": 0.000267737137619406,
111
+ "chamfer": 0.00010750607179943472,
112
+ "track": 0.0001602310803718865,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 2,
131
+ "adam_update_count": 332
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03364434000104666
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_4e57404aade44be387d191830c5533ec_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 3,
143
+ "next_interval": 0,
144
+ "next_adam_update": 333,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 2,
150
+ "trained_intervals": 332,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 332,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.766117095947266,
163
+ "median": 7.081609725952148,
164
+ "max": 7.331137657165527,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.5641955733299255,
177
+ "median": 0.5641955733299255,
178
+ "max": 0.5641955733299255,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.770073413848877,
184
+ "median": 7.05079984664917,
185
+ "max": 7.366754531860352,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 867.9351806640625,
191
+ "median": 1189.88232421875,
192
+ "max": 1527.1181640625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 871.3759155273438,
212
+ "median": 1153.78125,
213
+ "max": 1582.489501953125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.5641955733299255,
240
+ "median": 0.5641955733299255,
241
+ "max": 0.5641955733299255,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0003.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0003",
5
+ "executed_epochs": 3,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_54e31acb7c3d4b5983984030407aa811.npz",
37
+ "optimizer_file": "boundary_54e31acb7c3d4b5983984030407aa811_optimizer.pt",
38
+ "arrays_sha256": "53f4de8c16c3d41afbeb3c467ef2d7cb9ff65971eb16385008a89b8fd6303941",
39
+ "optimizer_sha256": "697af71ece2763e8b1a8b5d06f22cb69471e7a8689ffed66b0bb0fb615c62d39",
40
+ "stage": "adam",
41
+ "completed_passes": 3,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 498,
45
+ "adam_update_count": 498,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 4,
49
+ "consumed_count": 3,
50
+ "last_submitted_update": 498,
51
+ "last_consumed_update": 332,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 498,
56
+ "completed_passes": 3,
57
+ "next_interval": 0,
58
+ "trained_intervals": 498,
59
+ "snapshot": "pass_end_0003",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 3,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 498,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 498,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.4981324056861922e-06,
83
+ "update_l2": 0.028010573238134384
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.4609156551159685e-07,
91
+ "update_l2": 0.0005840659141540527
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.163809651596239e-06,
95
+ "update_l2": 0.009744876995682716
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0002453276829328388,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0002453276829328388,
110
+ "observation_loss": 0.0002453276829328388,
111
+ "chamfer": 0.00010674181248759851,
112
+ "track": 0.00013858586316928267,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 3,
131
+ "adam_update_count": 498
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.038313828175887465
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_54e31acb7c3d4b5983984030407aa811_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 4,
143
+ "next_interval": 0,
144
+ "next_adam_update": 499,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 3,
150
+ "trained_intervals": 498,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 498,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.635878562927246,
163
+ "median": 7.082911491394043,
164
+ "max": 7.4279351234436035,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.5259159803390503,
177
+ "median": 0.5259159803390503,
178
+ "max": 0.5259159803390503,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.653262615203857,
184
+ "median": 7.0393571853637695,
185
+ "max": 7.495573997497559,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 761.9481811523438,
191
+ "median": 1191.4322509765625,
192
+ "max": 1682.330078125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 775.3097534179688,
212
+ "median": 1140.6544189453125,
213
+ "max": 1800.0577392578125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.5259159803390503,
240
+ "median": 0.5259159803390503,
241
+ "max": 0.5259159803390503,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0004.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0004",
5
+ "executed_epochs": 4,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_b4b06cef3d3a4e36a1020ab8d1e0b5bc.npz",
37
+ "optimizer_file": "boundary_b4b06cef3d3a4e36a1020ab8d1e0b5bc_optimizer.pt",
38
+ "arrays_sha256": "90b816a019f2079d38253537342b1777d3c4544d72ca07f9387d8365ee03e800",
39
+ "optimizer_sha256": "95ee2af5666eccb69c2858f660badc913059f1787c61916a90861507d4d6fade",
40
+ "stage": "adam",
41
+ "completed_passes": 4,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 664,
45
+ "adam_update_count": 664,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 5,
49
+ "consumed_count": 4,
50
+ "last_submitted_update": 664,
51
+ "last_consumed_update": 498,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 664,
56
+ "completed_passes": 4,
57
+ "next_interval": 0,
58
+ "trained_intervals": 664,
59
+ "snapshot": "pass_end_0004",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 4,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 664,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 664,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.5658275742680416e-06,
83
+ "update_l2": 0.02787564881145954
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 2.1613986689317244e-07,
91
+ "update_l2": 0.0007998347282409668
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.524347903294256e-06,
95
+ "update_l2": 0.009788763709366322
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00025231996551156044,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00025231996551156044,
110
+ "observation_loss": 0.00025231996551156044,
111
+ "chamfer": 0.00012190639972686768,
112
+ "track": 0.00013041355123277754,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 4,
131
+ "adam_update_count": 664
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03454431681893766
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_b4b06cef3d3a4e36a1020ab8d1e0b5bc_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 5,
143
+ "next_interval": 0,
144
+ "next_adam_update": 665,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 4,
150
+ "trained_intervals": 664,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 664,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.506441593170166,
163
+ "median": 7.084402084350586,
164
+ "max": 7.506733417510986,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.4916582405567169,
177
+ "median": 0.4916582405567169,
178
+ "max": 0.4916582405567169,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.535943031311035,
184
+ "median": 7.022777557373047,
185
+ "max": 7.599824905395508,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 669.4400634765625,
191
+ "median": 1193.2095947265625,
192
+ "max": 1820.2576904296875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 689.4837036132812,
212
+ "median": 1121.898681640625,
213
+ "max": 1997.8460693359375,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.4916582405567169,
240
+ "median": 0.4916582405567169,
241
+ "max": 0.4916582405567169,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0005.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0005",
5
+ "executed_epochs": 5,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_adbcd272d03b433daf028617a4b47037.npz",
37
+ "optimizer_file": "boundary_adbcd272d03b433daf028617a4b47037_optimizer.pt",
38
+ "arrays_sha256": "34a3d961ceccd88062acea6c70cc5740f48b2c74cf794b10bf20d688a7cd4cbd",
39
+ "optimizer_sha256": "94676b89846d28ee57712fbf0d092f412bbf19cb56ab5bb58881c33c6dc23e69",
40
+ "stage": "adam",
41
+ "completed_passes": 5,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 830,
45
+ "adam_update_count": 830,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 6,
49
+ "consumed_count": 5,
50
+ "last_submitted_update": 830,
51
+ "last_consumed_update": 664,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 830,
56
+ "completed_passes": 5,
57
+ "next_interval": 0,
58
+ "trained_intervals": 830,
59
+ "snapshot": "pass_end_0005",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 5,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 830,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 830,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.5476647376999608e-06,
83
+ "update_l2": 0.027551643550395966
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.9827379560410918e-07,
91
+ "update_l2": 0.0007368326187133789
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.6112483030592557e-06,
95
+ "update_l2": 0.009899690747261047
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0002521153073757887,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0002521153073757887,
110
+ "observation_loss": 0.0002521153073757887,
111
+ "chamfer": 0.00012791139306500554,
112
+ "track": 0.00012420391431078315,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 5,
131
+ "adam_update_count": 830
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03530282201245427
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_adbcd272d03b433daf028617a4b47037_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 6,
143
+ "next_interval": 0,
144
+ "next_adam_update": 831,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 5,
150
+ "trained_intervals": 830,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 830,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.377525329589844,
163
+ "median": 7.085871696472168,
164
+ "max": 7.616209983825684,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.4563809037208557,
177
+ "median": 0.4563809037208557,
178
+ "max": 0.4563809037208557,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.416890621185303,
184
+ "median": 7.012151718139648,
185
+ "max": 7.717765808105469,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 588.4696655273438,
191
+ "median": 1194.96435546875,
192
+ "max": 2030.8504638671875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 612.096923828125,
212
+ "median": 1110.041015625,
213
+ "max": 2247.931640625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.4563809037208557,
240
+ "median": 0.4563809037208557,
241
+ "max": 0.4563809037208557,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0006.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0006",
5
+ "executed_epochs": 6,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_ef06a4ecb0b7416fa2e3f9fb2cf96dcb.npz",
37
+ "optimizer_file": "boundary_ef06a4ecb0b7416fa2e3f9fb2cf96dcb_optimizer.pt",
38
+ "arrays_sha256": "35e95a3f5b9cf71648193afc8f273e728fe48ba367683633033731f2d9a52b3a",
39
+ "optimizer_sha256": "2573ed89405b1dc5d92c8bed7eafa92ac01e3ad298f3585fa62d598a50a8f080",
40
+ "stage": "adam",
41
+ "completed_passes": 6,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 996,
45
+ "adam_update_count": 996,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 7,
49
+ "consumed_count": 6,
50
+ "last_submitted_update": 996,
51
+ "last_consumed_update": 830,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 996,
56
+ "completed_passes": 6,
57
+ "next_interval": 0,
58
+ "trained_intervals": 996,
59
+ "snapshot": "pass_end_0006",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 6,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 996,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 996,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.694768570814631e-06,
83
+ "update_l2": 0.02796684391796589
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 3.1994002824831114e-07,
91
+ "update_l2": 0.0008050203323364258
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.926565568690421e-06,
95
+ "update_l2": 0.010219217278063297
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00027031073113903403,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00027031073113903403,
110
+ "observation_loss": 0.00027031073113903403,
111
+ "chamfer": 0.00015221118519548327,
112
+ "track": 0.00011809953139163554,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 6,
131
+ "adam_update_count": 996
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03312236815690994
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_ef06a4ecb0b7416fa2e3f9fb2cf96dcb_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 7,
143
+ "next_interval": 0,
144
+ "next_adam_update": 997,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 6,
150
+ "trained_intervals": 996,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 996,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.248655319213867,
163
+ "median": 7.086942195892334,
164
+ "max": 7.733465671539307,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.44096171855926514,
177
+ "median": 0.44096171855926514,
178
+ "max": 0.44096171855926514,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.298961639404297,
184
+ "median": 7.003410339355469,
185
+ "max": 7.8353800773620605,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 517.3167724609375,
191
+ "median": 1196.2442626953125,
192
+ "max": 2283.502197265625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 544.0067749023438,
212
+ "median": 1100.37939453125,
213
+ "max": 2528.496337890625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.44096171855926514,
240
+ "median": 0.44096171855926514,
241
+ "max": 0.44096171855926514,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0007.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0007",
5
+ "executed_epochs": 7,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_bc7c4354723446939d2a0d58b2b00672.npz",
37
+ "optimizer_file": "boundary_bc7c4354723446939d2a0d58b2b00672_optimizer.pt",
38
+ "arrays_sha256": "ff8fb88fb6c0efb014df0b2a0a6f12035da963d627c69ee201eae0de99737eaf",
39
+ "optimizer_sha256": "860a67befa87f5d75020a435dfdc7c7f8bba07bfd60d685f6bd4d705b38c60a4",
40
+ "stage": "adam",
41
+ "completed_passes": 7,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1162,
45
+ "adam_update_count": 1162,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 8,
49
+ "consumed_count": 7,
50
+ "last_submitted_update": 1162,
51
+ "last_consumed_update": 996,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1162,
56
+ "completed_passes": 7,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1162,
59
+ "snapshot": "pass_end_0007",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 7,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1162,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1162,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6840308489918243e-06,
83
+ "update_l2": 0.028076913207769394
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 3.1047889592628053e-07,
91
+ "update_l2": 0.0007324814796447754
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 4.031232037959853e-06,
95
+ "update_l2": 0.010543055832386017
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00026573389186523855,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00026573389186523855,
110
+ "observation_loss": 0.00026573389186523855,
111
+ "chamfer": 0.0001545448903925717,
112
+ "track": 0.00011118900147266686,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 7,
131
+ "adam_update_count": 1162
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.034006496192887425
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_bc7c4354723446939d2a0d58b2b00672_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 8,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1163,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 7,
150
+ "trained_intervals": 1162,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1162,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 6.120099067687988,
163
+ "median": 7.088083744049072,
164
+ "max": 7.8546552658081055,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.4347776770591736,
177
+ "median": 0.4347776770591736,
178
+ "max": 0.4347776770591736,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.182281970977783,
184
+ "median": 6.981248378753662,
185
+ "max": 7.948675632476807,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 454.9097595214844,
191
+ "median": 1197.610595703125,
192
+ "max": 2577.706298828125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 484.09539794921875,
212
+ "median": 1076.26513671875,
213
+ "max": 2831.822021484375,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.4347776770591736,
240
+ "median": 0.4347776770591736,
241
+ "max": 0.4347776770591736,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0008.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0008",
5
+ "executed_epochs": 8,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_d7966fe7b077425ea39d08afc7055eda.npz",
37
+ "optimizer_file": "boundary_d7966fe7b077425ea39d08afc7055eda_optimizer.pt",
38
+ "arrays_sha256": "b7a1a719fe6825a5294421de47a582a15db81665c80fe485b3059056db0e3136",
39
+ "optimizer_sha256": "031fb0e98e9e56fe92cb5ffca073bec73a87130954e94adadaa494cc0d30cadd",
40
+ "stage": "adam",
41
+ "completed_passes": 8,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1328,
45
+ "adam_update_count": 1328,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 9,
49
+ "consumed_count": 8,
50
+ "last_submitted_update": 1328,
51
+ "last_consumed_update": 1162,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1328,
56
+ "completed_passes": 8,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1328,
59
+ "snapshot": "pass_end_0008",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 8,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1328,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1328,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6348379858754924e-06,
83
+ "update_l2": 0.02807408943772316
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 2.520596638078132e-07,
91
+ "update_l2": 0.0007727146148681641
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.896623638866004e-06,
95
+ "update_l2": 0.010735750198364258
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00025129050482064486,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00025129050482064486,
110
+ "observation_loss": 0.00025129050482064486,
111
+ "chamfer": 0.00014655213453806937,
112
+ "track": 0.00010473838483449072,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 8,
131
+ "adam_update_count": 1328
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03364618797786534
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_d7966fe7b077425ea39d08afc7055eda_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 9,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1329,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 8,
150
+ "trained_intervals": 1328,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1328,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.993094444274902,
163
+ "median": 7.089337348937988,
164
+ "max": 7.970472812652588,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.43383634090423584,
177
+ "median": 0.43383634090423584,
178
+ "max": 0.43383634090423584,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 6.067385673522949,
184
+ "median": 6.964046955108643,
185
+ "max": 8.057673454284668,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 400.6524658203125,
191
+ "median": 1199.1129150390625,
192
+ "max": 2894.2255859375,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 431.5509948730469,
212
+ "median": 1057.90625,
213
+ "max": 3157.9345703125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.43383634090423584,
240
+ "median": 0.43383634090423584,
241
+ "max": 0.43383634090423584,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0009.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0009",
5
+ "executed_epochs": 9,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_f2b380cced8445439f67dcc8eb0247f5.npz",
37
+ "optimizer_file": "boundary_f2b380cced8445439f67dcc8eb0247f5_optimizer.pt",
38
+ "arrays_sha256": "ac7a1749d4721a81dc761435994ae311a525b2263a3375eaaab5d9a06be98fa0",
39
+ "optimizer_sha256": "e6aa802c4833845882c17bd0428aa1dd622def84e0857d8729496e524ff5d48a",
40
+ "stage": "adam",
41
+ "completed_passes": 9,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1494,
45
+ "adam_update_count": 1494,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 10,
49
+ "consumed_count": 9,
50
+ "last_submitted_update": 1494,
51
+ "last_consumed_update": 1328,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1494,
56
+ "completed_passes": 9,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1494,
59
+ "snapshot": "pass_end_0009",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 9,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1494,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1494,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.519384682069358e-06,
83
+ "update_l2": 0.027409285306930542
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 9.313011872791321e-08,
91
+ "update_l2": 0.000451505184173584
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.1288143418350955e-06,
95
+ "update_l2": 0.010181697085499763
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00021416549861896783,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00021416549861896783,
110
+ "observation_loss": 0.00021416549861896783,
111
+ "chamfer": 0.00011539770639501512,
112
+ "track": 9.876779222395271e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 9,
131
+ "adam_update_count": 1494
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03338700998574495
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_f2b380cced8445439f67dcc8eb0247f5_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 10,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1495,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 9,
150
+ "trained_intervals": 1494,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1494,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.8673996925354,
163
+ "median": 7.09060001373291,
164
+ "max": 8.087139129638672,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.40984687209129333,
177
+ "median": 0.40984687209129333,
178
+ "max": 0.40984687209129333,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.954682350158691,
184
+ "median": 6.941520690917969,
185
+ "max": 8.164131164550781,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 353.32904052734375,
191
+ "median": 1200.6279296875,
192
+ "max": 3252.369873046875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 385.5544128417969,
212
+ "median": 1034.34228515625,
213
+ "max": 3512.668212890625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.40984687209129333,
240
+ "median": 0.40984687209129333,
241
+ "max": 0.40984687209129333,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0010.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0010",
5
+ "executed_epochs": 10,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_40db847b4b6a4a0e8dfe5e1c8c7d03f4.npz",
37
+ "optimizer_file": "boundary_40db847b4b6a4a0e8dfe5e1c8c7d03f4_optimizer.pt",
38
+ "arrays_sha256": "c6d841fc55fa6fff065f35be9f6023dec72d31a13b5a0e171c9e75645a439ee1",
39
+ "optimizer_sha256": "8321bd16709f59a6cfd8aa3b38aa615ac432b2b922ed578937042656503eeacc",
40
+ "stage": "adam",
41
+ "completed_passes": 10,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1660,
45
+ "adam_update_count": 1660,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 11,
49
+ "consumed_count": 10,
50
+ "last_submitted_update": 1660,
51
+ "last_consumed_update": 1494,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1660,
56
+ "completed_passes": 10,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1660,
59
+ "snapshot": "pass_end_0010",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 10,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1660,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1660,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6274485687972629e-06,
83
+ "update_l2": 0.028209323063492775
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 6.450915179812e-08,
91
+ "update_l2": 0.000450819730758667
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 3.177904545736965e-06,
95
+ "update_l2": 0.010198522359132767
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00020725683134514838,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00020725683134514838,
110
+ "observation_loss": 0.00020725683134514838,
111
+ "chamfer": 0.00011461132089607418,
112
+ "track": 9.264551044907421e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 10,
131
+ "adam_update_count": 1660
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033749128924682736
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_40db847b4b6a4a0e8dfe5e1c8c7d03f4_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 11,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1661,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 10,
150
+ "trained_intervals": 1660,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1660,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.742449760437012,
163
+ "median": 7.091623306274414,
164
+ "max": 8.202585220336914,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.42349234223365784,
177
+ "median": 0.42349234223365784,
178
+ "max": 0.42349234223365784,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.843107223510742,
184
+ "median": 6.924750804901123,
185
+ "max": 8.267228126525879,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 311.8273620605469,
191
+ "median": 1201.857177734375,
192
+ "max": 3650.37548828125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 344.8492126464844,
212
+ "median": 1017.141357421875,
213
+ "max": 3894.139892578125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.42349234223365784,
240
+ "median": 0.42349234223365784,
241
+ "max": 0.42349234223365784,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0011.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0011",
5
+ "executed_epochs": 11,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_5da937f38c6e4479964c0ee44fe0fe5a.npz",
37
+ "optimizer_file": "boundary_5da937f38c6e4479964c0ee44fe0fe5a_optimizer.pt",
38
+ "arrays_sha256": "4665130801205a67df2710faad7e9e54f64c767ff30760af1578d5c439f89fed",
39
+ "optimizer_sha256": "cbed923f18d0f8081f78242d4ec77dddafd550491d5b3e1a21aba41ec9a12336",
40
+ "stage": "adam",
41
+ "completed_passes": 11,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1826,
45
+ "adam_update_count": 1826,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 12,
49
+ "consumed_count": 11,
50
+ "last_submitted_update": 1826,
51
+ "last_consumed_update": 1660,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1826,
56
+ "completed_passes": 11,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1826,
59
+ "snapshot": "pass_end_0011",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 11,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1826,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1826,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.4414076758839656e-06,
83
+ "update_l2": 0.027368120849132538
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.342959023986623e-07,
91
+ "update_l2": 0.00024050474166870117
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.0595616661012173e-06,
95
+ "update_l2": 0.0076719834469258785
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00033582758624106646,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00033582758624106646,
110
+ "observation_loss": 0.00033582758624106646,
111
+ "chamfer": 0.00019834196427837014,
112
+ "track": 0.00013748562196269631,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 11,
131
+ "adam_update_count": 1826
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03407560382038355
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_5da937f38c6e4479964c0ee44fe0fe5a_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 12,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1827,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 11,
150
+ "trained_intervals": 1826,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1826,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.614760875701904,
163
+ "median": 7.09322452545166,
164
+ "max": 8.208277702331543,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.44450077414512634,
177
+ "median": 0.44450077414512634,
178
+ "max": 0.44450077414512634,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.7249579429626465,
184
+ "median": 6.9141459465026855,
185
+ "max": 8.289292335510254,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 274.4477233886719,
191
+ "median": 1203.783203125,
192
+ "max": 3671.214111328125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 306.4203796386719,
212
+ "median": 1006.4139404296875,
213
+ "max": 3981.01611328125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.44450077414512634,
240
+ "median": 0.44450077414512634,
241
+ "max": 0.44450077414512634,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0012.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0012",
5
+ "executed_epochs": 12,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_0e7ea442422f49fdabad3f71627f19a1.npz",
37
+ "optimizer_file": "boundary_0e7ea442422f49fdabad3f71627f19a1_optimizer.pt",
38
+ "arrays_sha256": "d3346b96683556c0ca3413f63785b78fc62e1408180a9ab232a3869bc3c262e6",
39
+ "optimizer_sha256": "4ef2efc080d3cd71629d2fbc90160c70530061774f1fd1055819e113fa4d4740",
40
+ "stage": "adam",
41
+ "completed_passes": 12,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 1992,
45
+ "adam_update_count": 1992,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 13,
49
+ "consumed_count": 12,
50
+ "last_submitted_update": 1992,
51
+ "last_consumed_update": 1826,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 1992,
56
+ "completed_passes": 12,
57
+ "next_interval": 0,
58
+ "trained_intervals": 1992,
59
+ "snapshot": "pass_end_0012",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 12,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 1992,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 1992,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.3633601838591858e-06,
83
+ "update_l2": 0.02736733667552471
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.8215214936390112e-07,
91
+ "update_l2": 0.00033977627754211426
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.0081356524315197e-06,
95
+ "update_l2": 0.0074965148232877254
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036406563594937325,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036406563594937325,
110
+ "observation_loss": 0.00036406563594937325,
111
+ "chamfer": 0.00022449527750723064,
112
+ "track": 0.0001395703584421426,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 12,
131
+ "adam_update_count": 1992
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03806730592623353
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_0e7ea442422f49fdabad3f71627f19a1_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 13,
143
+ "next_interval": 0,
144
+ "next_adam_update": 1993,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 12,
150
+ "trained_intervals": 1992,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 1992,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.494837284088135,
163
+ "median": 7.09394645690918,
164
+ "max": 8.208681106567383,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.4591090679168701,
177
+ "median": 0.4591090679168701,
178
+ "max": 0.4591090679168701,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.619051456451416,
184
+ "median": 6.89496374130249,
185
+ "max": 8.324503898620605,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 243.43191528320312,
191
+ "median": 1204.652587890625,
192
+ "max": 3672.6953125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 275.6278076171875,
212
+ "median": 987.29248046875,
213
+ "max": 4123.69091796875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.4591090679168701,
240
+ "median": 0.4591090679168701,
241
+ "max": 0.4591090679168701,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0013.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0013",
5
+ "executed_epochs": 13,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_53fd8ade536b4bf6aef48221971fceaf.npz",
37
+ "optimizer_file": "boundary_53fd8ade536b4bf6aef48221971fceaf_optimizer.pt",
38
+ "arrays_sha256": "f59e36b0ce7c0d604ae6c40b095f81a857b584e43911caa8b7e38c8090e8c247",
39
+ "optimizer_sha256": "32b0c534c8585752f91ef95f5e52e09eb75011b977e2f2292d27b0318ae4f9d0",
40
+ "stage": "adam",
41
+ "completed_passes": 13,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2158,
45
+ "adam_update_count": 2158,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 14,
49
+ "consumed_count": 13,
50
+ "last_submitted_update": 2158,
51
+ "last_consumed_update": 1992,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2158,
56
+ "completed_passes": 13,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2158,
59
+ "snapshot": "pass_end_0013",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 13,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2158,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2158,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.3325897043614532e-06,
83
+ "update_l2": 0.027278494089841843
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 2.007932806691315e-07,
91
+ "update_l2": 0.0003789365291595459
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.9654407878988422e-06,
95
+ "update_l2": 0.007587044965475798
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036364345578476787,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036364345578476787,
110
+ "observation_loss": 0.00036364345578476787,
111
+ "chamfer": 0.00022588316642213613,
112
+ "track": 0.00013776030391454697,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 13,
131
+ "adam_update_count": 2158
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033164836931973696
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_53fd8ade536b4bf6aef48221971fceaf_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 14,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2159,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 13,
150
+ "trained_intervals": 2158,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2158,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.37672758102417,
163
+ "median": 7.094109535217285,
164
+ "max": 8.214812278747559,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.4836685061454773,
177
+ "median": 0.4836685061454773,
178
+ "max": 0.4836685061454773,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.517517566680908,
184
+ "median": 6.898978233337402,
185
+ "max": 8.419134140014648,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 216.31324768066406,
191
+ "median": 1204.8489990234375,
192
+ "max": 3695.282470703125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 249.01609802246094,
212
+ "median": 991.2611083984375,
213
+ "max": 4532.9765625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.4836685061454773,
240
+ "median": 0.4836685061454773,
241
+ "max": 0.4836685061454773,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0014.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0014",
5
+ "executed_epochs": 14,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_85ccec144f7d443b938140e1272df15e.npz",
37
+ "optimizer_file": "boundary_85ccec144f7d443b938140e1272df15e_optimizer.pt",
38
+ "arrays_sha256": "31e10b94265f6c3bc0b75bd5c850d9a1776baa91c43045b0aa951aa725aee4b9",
39
+ "optimizer_sha256": "1bb1fe74ddae1b22b4dd35d0f50d13854855488e78a667588c3035b390a1931c",
40
+ "stage": "adam",
41
+ "completed_passes": 14,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2324,
45
+ "adam_update_count": 2324,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 15,
49
+ "consumed_count": 14,
50
+ "last_submitted_update": 2324,
51
+ "last_consumed_update": 2158,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2324,
56
+ "completed_passes": 14,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2324,
59
+ "snapshot": "pass_end_0014",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 14,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2324,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2324,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.2944494756084168e-06,
83
+ "update_l2": 0.02722906693816185
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.662240549649141e-07,
91
+ "update_l2": 0.00030875205993652344
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.947485998243792e-06,
95
+ "update_l2": 0.00767580745741725
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036109727807343006,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036109727807343006,
110
+ "observation_loss": 0.00036109727807343006,
111
+ "chamfer": 0.00022485577210318297,
112
+ "track": 0.00013624149141833186,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 14,
131
+ "adam_update_count": 2324
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.0333298509940505
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_85ccec144f7d443b938140e1272df15e_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 15,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2325,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 14,
150
+ "trained_intervals": 2324,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2324,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.261005401611328,
163
+ "median": 7.094387054443359,
164
+ "max": 8.259806632995605,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.5169255137443542,
177
+ "median": 0.5169255137443542,
178
+ "max": 0.5169255137443542,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.4034600257873535,
184
+ "median": 6.878195285797119,
185
+ "max": 8.505873680114746,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 192.67510986328125,
191
+ "median": 1205.1834716796875,
192
+ "max": 3865.3466796875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 222.173828125,
212
+ "median": 970.8746337890625,
213
+ "max": 4943.7216796875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.5169255137443542,
240
+ "median": 0.5169255137443542,
241
+ "max": 0.5169255137443542,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0015.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0015",
5
+ "executed_epochs": 15,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_798a400776bb4d3cac3a3fe9895184e1.npz",
37
+ "optimizer_file": "boundary_798a400776bb4d3cac3a3fe9895184e1_optimizer.pt",
38
+ "arrays_sha256": "9e7a3c1420e214d439f9f8ccc020de18dbf74c0cfaef4ee57749a05e188a0ff3",
39
+ "optimizer_sha256": "00d0a7ecf338f79d1aec347f019191f37637e447ad3d324c0611596621348fe6",
40
+ "stage": "adam",
41
+ "completed_passes": 15,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2490,
45
+ "adam_update_count": 2490,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 16,
49
+ "consumed_count": 15,
50
+ "last_submitted_update": 2490,
51
+ "last_consumed_update": 2324,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2490,
56
+ "completed_passes": 15,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2490,
59
+ "snapshot": "pass_end_0015",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 15,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2490,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2490,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.264046204596525e-06,
83
+ "update_l2": 0.027401845902204514
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.0139385153706826e-07,
91
+ "update_l2": 0.00012195110321044922
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.91668505067355e-06,
95
+ "update_l2": 0.007776130456477404
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036274109152145684,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036274109152145684,
110
+ "observation_loss": 0.00036274109152145684,
111
+ "chamfer": 0.00022660742979496717,
112
+ "track": 0.00013613366172648966,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 15,
131
+ "adam_update_count": 2490
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.034195019165053964
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_798a400776bb4d3cac3a3fe9895184e1_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 16,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2491,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 15,
150
+ "trained_intervals": 2490,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2490,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.147136688232422,
163
+ "median": 7.0943827629089355,
164
+ "max": 8.341917037963867,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.5566971898078918,
177
+ "median": 0.5566971898078918,
178
+ "max": 0.5566971898078918,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.281673431396484,
184
+ "median": 6.844710350036621,
185
+ "max": 8.587920188903809,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 171.93846130371094,
191
+ "median": 1205.17822265625,
192
+ "max": 4196.1259765625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 196.6987762451172,
212
+ "median": 938.9041748046875,
213
+ "max": 5366.44091796875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.5566971898078918,
240
+ "median": 0.5566971898078918,
241
+ "max": 0.5566971898078918,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0016.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0016",
5
+ "executed_epochs": 16,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_4113b7e04d4149ae91866eb4f0b0f8ee.npz",
37
+ "optimizer_file": "boundary_4113b7e04d4149ae91866eb4f0b0f8ee_optimizer.pt",
38
+ "arrays_sha256": "9541f7a81ab6f8af9e74b6f4d195754525f45259252f690f3a4bce8160553168",
39
+ "optimizer_sha256": "60ee301ff87c5c2430813770855c3822bc2af5e72a64dcb9a1341cc011a7d95b",
40
+ "stage": "adam",
41
+ "completed_passes": 16,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2656,
45
+ "adam_update_count": 2656,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 17,
49
+ "consumed_count": 16,
50
+ "last_submitted_update": 2656,
51
+ "last_consumed_update": 2490,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2656,
56
+ "completed_passes": 16,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2656,
59
+ "snapshot": "pass_end_0016",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 16,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2656,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2656,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.670266101427842e-06,
83
+ "update_l2": 0.028522199019789696
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 3.390985980900041e-08,
91
+ "update_l2": 7.557868957519531e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.8659029592527077e-06,
95
+ "update_l2": 0.008211411535739899
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00037715438520535827,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00037715438520535827,
110
+ "observation_loss": 0.00037715438520535827,
111
+ "chamfer": 0.00023495129426009953,
112
+ "track": 0.00014220309094525874,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 16,
131
+ "adam_update_count": 2656
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03353595710359514
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_4113b7e04d4149ae91866eb4f0b0f8ee_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 17,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2657,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 16,
150
+ "trained_intervals": 2656,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2656,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 5.039220333099365,
163
+ "median": 7.094695568084717,
164
+ "max": 8.424579620361328,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.5789353847503662,
177
+ "median": 0.5789353847503662,
178
+ "max": 0.5789353847503662,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.169602870941162,
184
+ "median": 6.82839298248291,
185
+ "max": 8.661765098571777,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 154.34962463378906,
191
+ "median": 1205.5552978515625,
192
+ "max": 4557.728515625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 175.84498596191406,
212
+ "median": 923.7054443359375,
213
+ "max": 5777.72412109375,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.5789353847503662,
240
+ "median": 0.5789353847503662,
241
+ "max": 0.5789353847503662,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0017.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0017",
5
+ "executed_epochs": 17,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_a73c3372dca84d3e9bc400d9fb74bc7f.npz",
37
+ "optimizer_file": "boundary_a73c3372dca84d3e9bc400d9fb74bc7f_optimizer.pt",
38
+ "arrays_sha256": "b11ee8dd2fbd2210c48a5285cfafb7b50c05d0375af461121198f491009d4a74",
39
+ "optimizer_sha256": "650d94a5951cca327cbb490fdc4f794e0ee499fb484ccbcef754cc437b934ccd",
40
+ "stage": "adam",
41
+ "completed_passes": 17,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2822,
45
+ "adam_update_count": 2822,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 18,
49
+ "consumed_count": 17,
50
+ "last_submitted_update": 2822,
51
+ "last_consumed_update": 2656,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2822,
56
+ "completed_passes": 17,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2822,
59
+ "snapshot": "pass_end_0017",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 17,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2822,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2822,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.1704912594723282e-06,
83
+ "update_l2": 0.026510335505008698
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.0390709093144324e-07,
91
+ "update_l2": 0.00025588274002075195
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.78345635504229e-06,
95
+ "update_l2": 0.007421476300805807
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036431854823604226,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036431854823604226,
110
+ "observation_loss": 0.00036431854823604226,
111
+ "chamfer": 0.00022926907695364207,
112
+ "track": 0.00013504948583431542,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 17,
131
+ "adam_update_count": 2822
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03338486980646849
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_a73c3372dca84d3e9bc400d9fb74bc7f_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 18,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2823,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 17,
150
+ "trained_intervals": 2822,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2822,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.933238983154297,
163
+ "median": 7.094924449920654,
164
+ "max": 8.51063060760498,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.6172891855239868,
177
+ "median": 0.6172891855239868,
178
+ "max": 0.6172891855239868,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 5.059769630432129,
184
+ "median": 6.8117780685424805,
185
+ "max": 8.722936630249023,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 138.8284454345703,
191
+ "median": 1205.831298828125,
192
+ "max": 4967.29443359375,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 157.55421447753906,
212
+ "median": 908.4912719726562,
213
+ "max": 6142.18994140625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.6172891855239868,
240
+ "median": 0.6172891855239868,
241
+ "max": 0.6172891855239868,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0018.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0018",
5
+ "executed_epochs": 18,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_43b51ec7544f432cb23992f0f1d54fb0.npz",
37
+ "optimizer_file": "boundary_43b51ec7544f432cb23992f0f1d54fb0_optimizer.pt",
38
+ "arrays_sha256": "4c64bae215e2e8f280af1b2eaf95eaceb389a4f0a9ec6d25578fd2323215457f",
39
+ "optimizer_sha256": "300734f2b12f102aa1f8b6f47261c66f85bb965966c03dad477608d6ca54f486",
40
+ "stage": "adam",
41
+ "completed_passes": 18,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 2988,
45
+ "adam_update_count": 2988,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 19,
49
+ "consumed_count": 18,
50
+ "last_submitted_update": 2988,
51
+ "last_consumed_update": 2822,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 2988,
56
+ "completed_passes": 18,
57
+ "next_interval": 0,
58
+ "trained_intervals": 2988,
59
+ "snapshot": "pass_end_0018",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 18,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 2988,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 2988,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.184031248158135e-06,
83
+ "update_l2": 0.025998355820775032
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 8.296562015175368e-08,
91
+ "update_l2": 0.00016748905181884766
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.7160177776531782e-06,
95
+ "update_l2": 0.0073206182569265366
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00036251143319532275,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00036251143319532275,
110
+ "observation_loss": 0.00036251143319532275,
111
+ "chamfer": 0.00022819281730335206,
112
+ "track": 0.0001343186158919707,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 18,
131
+ "adam_update_count": 2988
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.04291293793357909
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_43b51ec7544f432cb23992f0f1d54fb0_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 19,
143
+ "next_interval": 0,
144
+ "next_adam_update": 2989,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 18,
150
+ "trained_intervals": 2988,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 2988,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.829742908477783,
163
+ "median": 7.095410346984863,
164
+ "max": 8.596125602722168,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.6557761430740356,
177
+ "median": 0.6557761430740356,
178
+ "max": 0.6557761430740356,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.95210599899292,
184
+ "median": 6.80342960357666,
185
+ "max": 8.769622802734375,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 125.17877960205078,
191
+ "median": 1206.4173583984375,
192
+ "max": 5410.65576171875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 141.4725799560547,
212
+ "median": 900.9387817382812,
213
+ "max": 6435.74462890625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.6557761430740356,
240
+ "median": 0.6557761430740356,
241
+ "max": 0.6557761430740356,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0019.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0019",
5
+ "executed_epochs": 19,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_2c06c8a80d924cc2b0bbf535c19300e0.npz",
37
+ "optimizer_file": "boundary_2c06c8a80d924cc2b0bbf535c19300e0_optimizer.pt",
38
+ "arrays_sha256": "620f3a82ec6cfc3db7c71393b80c6c53895559350573057601d20d20935bc8b2",
39
+ "optimizer_sha256": "65e20a164151853dd911d10b42557103bd2d2d02c16f15567e8eed90f3837506",
40
+ "stage": "adam",
41
+ "completed_passes": 19,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3154,
45
+ "adam_update_count": 3154,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 20,
49
+ "consumed_count": 19,
50
+ "last_submitted_update": 3154,
51
+ "last_consumed_update": 2988,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3154,
56
+ "completed_passes": 19,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3154,
59
+ "snapshot": "pass_end_0019",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 19,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3154,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3154,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.1617042900979868e-06,
83
+ "update_l2": 0.026239249855279922
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.1631932039790627e-07,
91
+ "update_l2": 0.0002155900001525879
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.634581735743268e-06,
95
+ "update_l2": 0.00750375771895051
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0003618439077399671,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0003618439077399671,
110
+ "observation_loss": 0.0003618439077399671,
111
+ "chamfer": 0.0002282657369505614,
112
+ "track": 0.00013357815623749048,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 19,
131
+ "adam_update_count": 3154
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033907006960362196
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_2c06c8a80d924cc2b0bbf535c19300e0_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 20,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3155,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 19,
150
+ "trained_intervals": 3154,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3154,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.72804594039917,
163
+ "median": 7.095617294311523,
164
+ "max": 8.681486129760742,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.6903674602508545,
177
+ "median": 0.6903674602508545,
178
+ "max": 0.6903674602508545,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.852924823760986,
184
+ "median": 6.780405521392822,
185
+ "max": 8.804383277893066,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 113.07439422607422,
191
+ "median": 1206.6669921875,
192
+ "max": 5892.7978515625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 128.11456298828125,
212
+ "median": 880.4305419921875,
213
+ "max": 6663.3876953125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.6903674602508545,
240
+ "median": 0.6903674602508545,
241
+ "max": 0.6903674602508545,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0020.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0020",
5
+ "executed_epochs": 20,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_bb7162488665486caec66600e13dd8e6.npz",
37
+ "optimizer_file": "boundary_bb7162488665486caec66600e13dd8e6_optimizer.pt",
38
+ "arrays_sha256": "31709557de1a9b3dd4d593bb8c9a16a935e03d5ba14d2237549ad9691d07a24f",
39
+ "optimizer_sha256": "27b5662c9ab59f627dc57cb8421186c491b4d0417fafc5d5bf41961d5fd987e5",
40
+ "stage": "adam",
41
+ "completed_passes": 20,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3320,
45
+ "adam_update_count": 3320,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 21,
49
+ "consumed_count": 20,
50
+ "last_submitted_update": 3320,
51
+ "last_consumed_update": 3154,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3320,
56
+ "completed_passes": 20,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3320,
59
+ "snapshot": "pass_end_0020",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 20,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3320,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3320,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.1353199624863919e-06,
83
+ "update_l2": 0.02580885961651802
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.1453704473751714e-07,
91
+ "update_l2": 0.0002472996711730957
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.53757889620465e-06,
95
+ "update_l2": 0.007305704522877932
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0003615265595726669,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0003615265595726669,
110
+ "observation_loss": 0.0003615265595726669,
111
+ "chamfer": 0.00022719598200637847,
112
+ "track": 0.0001343305775662884,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 20,
131
+ "adam_update_count": 3320
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033781396923586726
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_bb7162488665486caec66600e13dd8e6_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 21,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3321,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 20,
150
+ "trained_intervals": 3320,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3320,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.629240989685059,
163
+ "median": 7.095663070678711,
164
+ "max": 8.764433860778809,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.7222203016281128,
177
+ "median": 0.7222203016281128,
178
+ "max": 0.7222203016281128,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.758739471435547,
184
+ "median": 6.772414207458496,
185
+ "max": 8.824366569519043,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 102.436279296875,
191
+ "median": 1206.7222900390625,
192
+ "max": 6402.43603515625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 116.59886169433594,
212
+ "median": 873.4178466796875,
213
+ "max": 6797.8837890625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.7222203016281128,
240
+ "median": 0.7222203016281128,
241
+ "max": 0.7222203016281128,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0021.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0021",
5
+ "executed_epochs": 21,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_a0066a94d30d4deca02e83c0c26d724d.npz",
37
+ "optimizer_file": "boundary_a0066a94d30d4deca02e83c0c26d724d_optimizer.pt",
38
+ "arrays_sha256": "1a8a8cf2b68e35acc943ec26905107aaa0db94c996b6b55d2a50e84ff879a411",
39
+ "optimizer_sha256": "76e67603364207ded30d086213772ca2bae5b15ec9c4393a61d2ab16b14c1403",
40
+ "stage": "adam",
41
+ "completed_passes": 21,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3486,
45
+ "adam_update_count": 3486,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 22,
49
+ "consumed_count": 21,
50
+ "last_submitted_update": 3486,
51
+ "last_consumed_update": 3320,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3486,
56
+ "completed_passes": 21,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3486,
59
+ "snapshot": "pass_end_0021",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 21,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3486,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3486,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.1003244253515732e-06,
83
+ "update_l2": 0.02565157227218151
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 2.4646450214049764e-08,
91
+ "update_l2": 0.00010567903518676758
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3812676797897439e-06,
95
+ "update_l2": 0.007261519320309162
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0003548748209141195,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0003548748209141195,
110
+ "observation_loss": 0.0003548748209141195,
111
+ "chamfer": 0.00022000457101967186,
112
+ "track": 0.00013487024989444762,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 21,
131
+ "adam_update_count": 3486
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.0384444750379771
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_a0066a94d30d4deca02e83c0c26d724d_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 22,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3487,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 21,
150
+ "trained_intervals": 3486,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3486,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.531379699707031,
163
+ "median": 7.096279144287109,
164
+ "max": 8.847044944763184,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.7556191682815552,
177
+ "median": 0.7556191682815552,
178
+ "max": 0.7556191682815552,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.6670122146606445,
184
+ "median": 6.764710903167725,
185
+ "max": 8.8859224319458,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 92.88662719726562,
191
+ "median": 1207.4658203125,
192
+ "max": 6953.8095703125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 106.37943267822266,
212
+ "median": 866.7205810546875,
213
+ "max": 7229.47998046875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.7556191682815552,
240
+ "median": 0.7556191682815552,
241
+ "max": 0.7556191682815552,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0022.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0022",
5
+ "executed_epochs": 22,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_2e2e89894a084ed195b7e4744f66cb6f.npz",
37
+ "optimizer_file": "boundary_2e2e89894a084ed195b7e4744f66cb6f_optimizer.pt",
38
+ "arrays_sha256": "ef0dcbcdd454b514557fd90391ac86e3d5c0af293264a4d2ffaa71185bb03670",
39
+ "optimizer_sha256": "629450539e9cb5bac97a900502b0c33e7f8cd75f11841af22b321992b1d530f0",
40
+ "stage": "adam",
41
+ "completed_passes": 22,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3652,
45
+ "adam_update_count": 3652,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 23,
49
+ "consumed_count": 22,
50
+ "last_submitted_update": 3652,
51
+ "last_consumed_update": 3486,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3652,
56
+ "completed_passes": 22,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3652,
59
+ "snapshot": "pass_end_0022",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 22,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3652,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3652,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.1266674846410751e-06,
83
+ "update_l2": 0.026182670146226883
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 7.591045658728035e-08,
91
+ "update_l2": 0.00029587745666503906
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.554409891468822e-06,
95
+ "update_l2": 0.007713719271123409
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00035692518576979637,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00035692518576979637,
110
+ "observation_loss": 0.00035692518576979637,
111
+ "chamfer": 0.00022517383331432939,
112
+ "track": 0.00013175133790355176,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 22,
131
+ "adam_update_count": 3652
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03405384998768568
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_2e2e89894a084ed195b7e4744f66cb6f_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 23,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3653,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 22,
150
+ "trained_intervals": 3652,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3652,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.438732624053955,
163
+ "median": 7.096134662628174,
164
+ "max": 8.93854808807373,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.7993626594543457,
177
+ "median": 0.7993626594543457,
178
+ "max": 0.7993626594543457,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.583309650421143,
184
+ "median": 6.759149074554443,
185
+ "max": 8.960637092590332,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 84.66757202148438,
191
+ "median": 1207.29150390625,
192
+ "max": 7620.12548828125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 97.8376693725586,
212
+ "median": 861.90869140625,
213
+ "max": 7790.31884765625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.7993626594543457,
240
+ "median": 0.7993626594543457,
241
+ "max": 0.7993626594543457,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0023.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0023",
5
+ "executed_epochs": 23,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_1faafd2203b64092a2a51a8428500ab5.npz",
37
+ "optimizer_file": "boundary_1faafd2203b64092a2a51a8428500ab5_optimizer.pt",
38
+ "arrays_sha256": "25286e6ad11aef5cd221a3de87f52216715d817c28ac48ad5ffec861bca7b7d4",
39
+ "optimizer_sha256": "3fef585487b5e59d89414a95377c15a86ac93379bd2ced5a7ba945a50e5586ac",
40
+ "stage": "adam",
41
+ "completed_passes": 23,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3818,
45
+ "adam_update_count": 3818,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 24,
49
+ "consumed_count": 23,
50
+ "last_submitted_update": 3818,
51
+ "last_consumed_update": 3652,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3818,
56
+ "completed_passes": 23,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3818,
59
+ "snapshot": "pass_end_0023",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 23,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3818,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3818,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.4544956457029912e-06,
83
+ "update_l2": 0.026609694585204124
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 3.0472609324760924e-08,
91
+ "update_l2": 9.608268737792969e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.3084747934044572e-06,
95
+ "update_l2": 0.007300578057765961
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0003696288913488388,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0003696288913488388,
110
+ "observation_loss": 0.0003696288913488388,
111
+ "chamfer": 0.00022995028120931238,
112
+ "track": 0.00013967862469144166,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 23,
131
+ "adam_update_count": 3818
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03262702701613307
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_1faafd2203b64092a2a51a8428500ab5_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 24,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3819,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 23,
150
+ "trained_intervals": 3818,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3818,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.347977161407471,
163
+ "median": 7.096670627593994,
164
+ "max": 9.01372241973877,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8234186768531799,
177
+ "median": 0.8234186768531799,
178
+ "max": 0.8234186768531799,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.500631332397461,
184
+ "median": 6.7285542488098145,
185
+ "max": 9.03026008605957,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 77.3218994140625,
191
+ "median": 1207.938720703125,
192
+ "max": 8215.0439453125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 90.073974609375,
212
+ "median": 835.9407958984375,
213
+ "max": 8352.0322265625,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8234186768531799,
240
+ "median": 0.8234186768531799,
241
+ "max": 0.8234186768531799,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0024.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0024",
5
+ "executed_epochs": 24,
6
+ "score": null,
7
+ "best_score": 0.0002662541595541315,
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_c1e25992b40e4385b417c80535855c8e.npz",
37
+ "optimizer_file": "boundary_c1e25992b40e4385b417c80535855c8e_optimizer.pt",
38
+ "arrays_sha256": "459a3bab1976c1942a1e443f0c76725f56a21f97a83d5f73bdda995b08ca859f",
39
+ "optimizer_sha256": "0b01ac4ef5068ce8c121364f4fbca9e35a40bd8751cb11e15abb348b3d33308a",
40
+ "stage": "adam",
41
+ "completed_passes": 24,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 3984,
45
+ "adam_update_count": 3984,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 25,
49
+ "consumed_count": 24,
50
+ "last_submitted_update": 3984,
51
+ "last_consumed_update": 3818,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 3984,
56
+ "completed_passes": 24,
57
+ "next_interval": 0,
58
+ "trained_intervals": 3984,
59
+ "snapshot": "pass_end_0024",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 0,
67
+ "pass_science": {
68
+ "completed_passes": 24,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 3984,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 3984,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.658469159337983e-06,
83
+ "update_l2": 0.03189573064446449
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.3752412542089587e-07,
91
+ "update_l2": 2.396106719970703e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.0947200027876534e-06,
95
+ "update_l2": 0.010377525351941586
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0002370331931160763,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0002370331931160763,
110
+ "observation_loss": 0.0002370331931160763,
111
+ "chamfer": 0.00014587769692298025,
112
+ "track": 9.115549619309604e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 24,
131
+ "adam_update_count": 3984
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03367009712383151
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_c1e25992b40e4385b417c80535855c8e_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 25,
143
+ "next_interval": 0,
144
+ "next_adam_update": 3985,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 24,
150
+ "trained_intervals": 3984,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 3984,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.255936622619629,
163
+ "median": 7.097378730773926,
164
+ "max": 9.06817626953125,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8022777438163757,
177
+ "median": 0.8022777438163757,
178
+ "max": 0.8022777438163757,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.413638591766357,
184
+ "median": 6.703615665435791,
185
+ "max": 9.132023811340332,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 70.52283477783203,
191
+ "median": 1208.7943115234375,
192
+ "max": 8674.7890625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 82.5693588256836,
212
+ "median": 815.3486938476562,
213
+ "max": 9246.716796875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8022777438163757,
240
+ "median": 0.8022777438163757,
241
+ "max": 0.8022777438163757,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0025.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0025",
5
+ "executed_epochs": 25,
6
+ "score": null,
7
+ "best_score": 0.000263170767095333,
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_085a651106ce40a690bbeda3b197d266.npz",
37
+ "optimizer_file": "boundary_085a651106ce40a690bbeda3b197d266_optimizer.pt",
38
+ "arrays_sha256": "e9a680d87d96bc60aa3840691c07a132b7788172084fc12e0b31ce8f46acde4b",
39
+ "optimizer_sha256": "8a72a5191ccfc820d4b510f074912c1e77b22f47f68bd64aeb8bab95bfe15849",
40
+ "stage": "adam",
41
+ "completed_passes": 25,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4150,
45
+ "adam_update_count": 4150,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 26,
49
+ "consumed_count": 25,
50
+ "last_submitted_update": 4150,
51
+ "last_consumed_update": 3984,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4150,
56
+ "completed_passes": 25,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4150,
59
+ "snapshot": "pass_end_0025",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 3984,
67
+ "pass_science": {
68
+ "completed_passes": 25,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4150,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4150,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.666200660110917e-06,
83
+ "update_l2": 0.03030753880739212
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.3273427157400874e-07,
91
+ "update_l2": 5.0127506256103516e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.038847014773637e-06,
95
+ "update_l2": 0.009848124347627163
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0002253096317872405,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0002253096317872405,
110
+ "observation_loss": 0.0002253096317872405,
111
+ "chamfer": 0.0001373099657939747,
112
+ "track": 8.799966599326581e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 25,
131
+ "adam_update_count": 4150
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.038783082040026784
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_085a651106ce40a690bbeda3b197d266_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 26,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4151,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 25,
150
+ "trained_intervals": 4150,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4150,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.177159786224365,
163
+ "median": 7.0987982749938965,
164
+ "max": 9.129828453063965,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8084205389022827,
177
+ "median": 0.8084205389022827,
178
+ "max": 0.8084205389022827,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.343914985656738,
184
+ "median": 6.689924240112305,
185
+ "max": 9.21132755279541,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 65.18046569824219,
191
+ "median": 1210.511474609375,
192
+ "max": 9226.4384765625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 77.00843811035156,
212
+ "median": 804.265625,
213
+ "max": 10009.876953125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8084205389022827,
240
+ "median": 0.8084205389022827,
241
+ "max": 0.8084205389022827,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0026.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0026",
5
+ "executed_epochs": 26,
6
+ "score": null,
7
+ "best_score": 0.000263170767095333,
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_b44de6a574444d648a79db1949be9d5d.npz",
37
+ "optimizer_file": "boundary_b44de6a574444d648a79db1949be9d5d_optimizer.pt",
38
+ "arrays_sha256": "e555769d8cf00624db5aeb02bba3039babfca151ee076fe0727d2d09a6e0f49f",
39
+ "optimizer_sha256": "e6dbd8da917ca0b20635e54ac14532fcdfad82cedfdf73b282b50969f5dd12d6",
40
+ "stage": "adam",
41
+ "completed_passes": 26,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4316,
45
+ "adam_update_count": 4316,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 27,
49
+ "consumed_count": 26,
50
+ "last_submitted_update": 4316,
51
+ "last_consumed_update": 4150,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4316,
56
+ "completed_passes": 26,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4316,
59
+ "snapshot": "pass_end_0026",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 3984,
67
+ "pass_science": {
68
+ "completed_passes": 26,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4316,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4316,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6845461914272164e-06,
83
+ "update_l2": 0.03044309839606285
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.7478002689585992e-07,
91
+ "update_l2": 0.0001341104507446289
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 2.133195721398806e-06,
95
+ "update_l2": 0.009830779395997524
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00023105951549950987,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00023105951549950987,
110
+ "observation_loss": 0.00023105951549950987,
111
+ "chamfer": 0.00014185780310072005,
112
+ "track": 8.920171239878982e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 26,
131
+ "adam_update_count": 4316
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03285662503913045
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_b44de6a574444d648a79db1949be9d5d_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 27,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4317,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 26,
150
+ "trained_intervals": 4316,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4316,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.095357418060303,
163
+ "median": 7.099421977996826,
164
+ "max": 9.191311836242676,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8189038634300232,
177
+ "median": 0.8189038634300232,
178
+ "max": 0.8189038634300232,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.276838779449463,
184
+ "median": 6.673404693603516,
185
+ "max": 9.284306526184082,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 60.0608024597168,
191
+ "median": 1211.2667236328125,
192
+ "max": 9811.513671875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 72.0124282836914,
212
+ "median": 791.0850830078125,
213
+ "max": 10767.703125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8189038634300232,
240
+ "median": 0.8189038634300232,
241
+ "max": 0.8189038634300232,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0027.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0027",
5
+ "executed_epochs": 27,
6
+ "score": null,
7
+ "best_score": 0.0002512183363064815,
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_7ec774bebcb343e68223e367dc9b3f96.npz",
37
+ "optimizer_file": "boundary_7ec774bebcb343e68223e367dc9b3f96_optimizer.pt",
38
+ "arrays_sha256": "42250a13e5be3c4bbd017a4c126c162dfcc75765c45478627e0578ec859f8f48",
39
+ "optimizer_sha256": "4576ceb074e2ec0a984009a0d220cff56d2c006f567f201ef08ad2ec718907c5",
40
+ "stage": "adam",
41
+ "completed_passes": 27,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4482,
45
+ "adam_update_count": 4482,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 28,
49
+ "consumed_count": 27,
50
+ "last_submitted_update": 4482,
51
+ "last_consumed_update": 4316,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4482,
56
+ "completed_passes": 27,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4482,
59
+ "snapshot": "pass_end_0027",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 4316,
67
+ "pass_science": {
68
+ "completed_passes": 27,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4482,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4482,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6965482245723251e-06,
83
+ "update_l2": 0.02824063040316105
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.8846067462163774e-07,
91
+ "update_l2": 0.0002735257148742676
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.7488099501861143e-06,
95
+ "update_l2": 0.00922588724642992
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.000201883987756446,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.000201883987756446,
110
+ "observation_loss": 0.000201883987756446,
111
+ "chamfer": 0.00011810746946139261,
112
+ "track": 8.377652557101101e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 27,
131
+ "adam_update_count": 4482
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.05425205104984343
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_7ec774bebcb343e68223e367dc9b3f96_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 28,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4483,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 27,
150
+ "trained_intervals": 4482,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4482,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 4.01963472366333,
163
+ "median": 7.101585388183594,
164
+ "max": 9.247472763061523,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8394448161125183,
177
+ "median": 0.8394448161125183,
178
+ "max": 0.8394448161125183,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.213381767272949,
184
+ "median": 6.656601905822754,
185
+ "max": 9.362089157104492,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 55.68076705932617,
191
+ "median": 1213.89013671875,
192
+ "max": 10378.3046875,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 67.58470916748047,
212
+ "median": 777.922119140625,
213
+ "max": 11638.6787109375,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8394448161125183,
240
+ "median": 0.8394448161125183,
241
+ "max": 0.8394448161125183,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0028.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0028",
5
+ "executed_epochs": 28,
6
+ "score": null,
7
+ "best_score": 0.00023033676047433177,
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_962eac1bfa9c43e69d90bc8b15abf1a4.npz",
37
+ "optimizer_file": "boundary_962eac1bfa9c43e69d90bc8b15abf1a4_optimizer.pt",
38
+ "arrays_sha256": "44997f8673cd7036656f82a9aaaedea5084a100f2f34b48e614d3374ca8ee48a",
39
+ "optimizer_sha256": "72552aba11fa2ed1befefbc73c28faf03e5adcdd3b7cabe687cd926304081ff6",
40
+ "stage": "adam",
41
+ "completed_passes": 28,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4648,
45
+ "adam_update_count": 4648,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 29,
49
+ "consumed_count": 28,
50
+ "last_submitted_update": 4648,
51
+ "last_consumed_update": 4482,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4648,
56
+ "completed_passes": 28,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4648,
59
+ "snapshot": "pass_end_0028",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 4482,
67
+ "pass_science": {
68
+ "completed_passes": 28,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4648,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4648,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.6692720237188041e-06,
83
+ "update_l2": 0.02829761989414692
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.7674032903869374e-07,
91
+ "update_l2": 3.1948089599609375e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.7740695739121293e-06,
95
+ "update_l2": 0.009298061020672321
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00019686852465383708,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00019686852465383708,
110
+ "observation_loss": 0.00019686852465383708,
111
+ "chamfer": 0.00011466191790532321,
112
+ "track": 8.220661402447149e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 28,
131
+ "adam_update_count": 4648
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033894860884174705
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_962eac1bfa9c43e69d90bc8b15abf1a4_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 29,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4649,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 28,
150
+ "trained_intervals": 4648,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4648,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 3.944695234298706,
163
+ "median": 7.103360652923584,
164
+ "max": 9.301143646240234,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.854564905166626,
177
+ "median": 0.854564905166626,
178
+ "max": 0.854564905166626,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.151171684265137,
184
+ "median": 6.6408610343933105,
185
+ "max": 9.433918952941895,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 51.66059112548828,
191
+ "median": 1216.046875,
192
+ "max": 10950.5361328125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 63.50836944580078,
212
+ "median": 765.80908203125,
213
+ "max": 12505.439453125,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.854564905166626,
240
+ "median": 0.854564905166626,
241
+ "max": 0.854564905166626,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0029.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0029",
5
+ "executed_epochs": 29,
6
+ "score": null,
7
+ "best_score": 0.00023033676047433177,
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_e155396fb5f44d1182f08f867d1e02c5.npz",
37
+ "optimizer_file": "boundary_e155396fb5f44d1182f08f867d1e02c5_optimizer.pt",
38
+ "arrays_sha256": "47e5d74e937dd376ccc34b7ac61a8224130df85eacb3c46120cae5d0a5ef28cd",
39
+ "optimizer_sha256": "c017fbde4b8bba3c34c6700d01b2995268ded7df5a1222d055aec8e7192684c8",
40
+ "stage": "adam",
41
+ "completed_passes": 29,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4814,
45
+ "adam_update_count": 4814,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 30,
49
+ "consumed_count": 29,
50
+ "last_submitted_update": 4814,
51
+ "last_consumed_update": 4648,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4814,
56
+ "completed_passes": 29,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4814,
59
+ "snapshot": "pass_end_0029",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 4482,
67
+ "pass_science": {
68
+ "completed_passes": 29,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4814,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4814,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.5118362171051558e-06,
83
+ "update_l2": 0.02748047560453415
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.622933041289798e-07,
91
+ "update_l2": 7.015466690063477e-05
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.6833942027005833e-06,
95
+ "update_l2": 0.009102811105549335
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.0001872121065389365,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.0001872121065389365,
110
+ "observation_loss": 0.0001872121065389365,
111
+ "chamfer": 0.00010575083433650434,
112
+ "track": 8.146127220243216e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 29,
131
+ "adam_update_count": 4814
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.033686552895233035
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_e155396fb5f44d1182f08f867d1e02c5_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 30,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4815,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 29,
150
+ "trained_intervals": 4814,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4814,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 3.8728485107421875,
163
+ "median": 7.105571746826172,
164
+ "max": 9.357772827148438,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.857340931892395,
177
+ "median": 0.857340931892395,
178
+ "max": 0.857340931892395,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.09299898147583,
184
+ "median": 6.623230457305908,
185
+ "max": 9.507330894470215,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 48.07914352416992,
191
+ "median": 1218.73876953125,
192
+ "max": 11588.55078125,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 59.91931915283203,
212
+ "median": 752.4344482421875,
213
+ "max": 13458.0263671875,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.857340931892395,
240
+ "median": 0.857340931892395,
241
+ "max": 0.857340931892395,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }
processed/001-rope/episode_2/runs/deform-rope-ep2-d1-tracking/native/adam_epochs/pass_end_0030.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": "p12_privileged_adam_checkpoint.v1",
3
+ "method_id": "prepared_observation_source_cma_then_source_adam_v1",
4
+ "label": "pass_end_0030",
5
+ "executed_epochs": 30,
6
+ "score": null,
7
+ "best_score": 0.00021232199413638423,
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_c63654e8ac314df1960066f4ab8f6c1d.npz",
37
+ "optimizer_file": "boundary_c63654e8ac314df1960066f4ab8f6c1d_optimizer.pt",
38
+ "arrays_sha256": "bb2c6a77df1050e394342b7f7e6dc95d6a12392ca87763d7326532d157b31ea3",
39
+ "optimizer_sha256": "7605ce3945fbf1bf2fc382d433b312541d737e69a23e62e3b855a30cf7c6495c",
40
+ "stage": "adam",
41
+ "completed_passes": 30,
42
+ "score_status": "unscored",
43
+ "adam_transition_batch_size": 1,
44
+ "cumulative_optimizer_updates": 4980,
45
+ "adam_update_count": 4980,
46
+ "score_selection_progress": {
47
+ "queue": "pass_snapshot_references_v2",
48
+ "submitted_count": 31,
49
+ "consumed_count": 30,
50
+ "last_submitted_update": 4980,
51
+ "last_consumed_update": 4814,
52
+ "pending": [
53
+ {
54
+ "reference": {
55
+ "source_update": 4980,
56
+ "completed_passes": 30,
57
+ "next_interval": 0,
58
+ "trained_intervals": 4980,
59
+ "snapshot": "pass_end_0030",
60
+ "candidate": true
61
+ },
62
+ "status": "registered"
63
+ }
64
+ ]
65
+ },
66
+ "best_source_update": 4814,
67
+ "pass_science": {
68
+ "completed_passes": 30,
69
+ "adam_schedule": "source_transition_v1",
70
+ "next_interval": 0,
71
+ "trained_intervals": 4980,
72
+ "adam_transition_batch_size": 1,
73
+ "optimizer_updates": 1,
74
+ "cumulative_optimizer_updates": 4980,
75
+ "updates": [
76
+ {
77
+ "batch_transition_count": 1,
78
+ "batch_weight_sum": 0.006024096385542169,
79
+ "lr": 0.001,
80
+ "leaf_metrics": {
81
+ "log_object_edge_stiffness": {
82
+ "gradient_l2": 1.5016194083727896e-06,
83
+ "update_l2": 0.027743056416511536
84
+ },
85
+ "raw_ground_friction": {
86
+ "gradient_l2": 0.0,
87
+ "update_l2": 0.0
88
+ },
89
+ "raw_ground_restitution": {
90
+ "gradient_l2": 1.6500059984991822e-07,
91
+ "update_l2": 0.00017565488815307617
92
+ },
93
+ "log_controller_edge_stiffness": {
94
+ "gradient_l2": 1.742743165777938e-06,
95
+ "update_l2": 0.00918721966445446
96
+ }
97
+ },
98
+ "training_path_transitions": [
99
+ {
100
+ "episode_id": "deform360_001-rope_episode_2_aligned_64_230",
101
+ "transition_index": 165,
102
+ "loss": 0.00018734284094534814,
103
+ "weight": 0.006024096385542169
104
+ }
105
+ ],
106
+ "loss_role": "pre_update_training_path_not_checkpoint_score",
107
+ "observation_transition": {
108
+ "transition_index": 165,
109
+ "loss": 0.00018734284094534814,
110
+ "observation_loss": 0.00018734284094534814,
111
+ "chamfer": 0.00010665659647202119,
112
+ "track": 8.068623719736934e-05,
113
+ "acceleration": 0.0,
114
+ "visible_count": 1327,
115
+ "motion_valid_count": 1327,
116
+ "n_nodes": 1327,
117
+ "state_finite": true,
118
+ "frame_indices": [
119
+ 229,
120
+ 230
121
+ ],
122
+ "times_s": [
123
+ 5.5,
124
+ 5.533333333333333
125
+ ],
126
+ "finite": true,
127
+ "frozen_visible_denominator": 1327,
128
+ "frozen_motion_denominator": 1327
129
+ },
130
+ "completed_passes": 30,
131
+ "adam_update_count": 4980
132
+ }
133
+ ],
134
+ "training_path_role": "pre-update transition losses; never checkpoint selection",
135
+ "wall_time_s": 0.03343076887540519
136
+ },
137
+ "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",
138
+ "execution_mode": "atomic_captured",
139
+ "rng_file": "boundary_c63654e8ac314df1960066f4ab8f6c1d_rng.pt",
140
+ "rng_sha256": "0e612e57798e23edb4746fa1edf6dac530e648e30ea376fc1cee576db96af2c5",
141
+ "resume_boundary": "detached_observation_interval",
142
+ "next_pass": 31,
143
+ "next_interval": 0,
144
+ "next_adam_update": 4981,
145
+ "schedule_id": "source_transition_v1",
146
+ "adam_schedule": "source_transition_v1",
147
+ "source_cursor": {
148
+ "next_interval": 0,
149
+ "completed_passes": 30,
150
+ "trained_intervals": 4980,
151
+ "source_timestamp_s": 5.533333333333333,
152
+ "next_source_timestamp_s": 0.0,
153
+ "update_budget": 83000
154
+ },
155
+ "trained_intervals": 4980,
156
+ "source_timestamp_s": 5.533333333333333,
157
+ "archive_axis": "optimizer_update",
158
+ "learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
159
+ "collision_distance_m": null,
160
+ "parameter_summary": {
161
+ "log_object_edge_stiffness": {
162
+ "min": 3.80180025100708,
163
+ "median": 7.109140872955322,
164
+ "max": 9.420195579528809,
165
+ "finite_count": 13559,
166
+ "nonfinite_count": 0
167
+ },
168
+ "raw_ground_friction": {
169
+ "min": 2.0090935230255127,
170
+ "median": 2.0090935230255127,
171
+ "max": 2.0090935230255127,
172
+ "finite_count": 1,
173
+ "nonfinite_count": 0
174
+ },
175
+ "raw_ground_restitution": {
176
+ "min": 0.8632805347442627,
177
+ "median": 0.8632805347442627,
178
+ "max": 0.8632805347442627,
179
+ "finite_count": 1,
180
+ "nonfinite_count": 0
181
+ },
182
+ "log_controller_edge_stiffness": {
183
+ "min": 4.039551258087158,
184
+ "median": 6.601067543029785,
185
+ "max": 9.57489013671875,
186
+ "finite_count": 300,
187
+ "nonfinite_count": 0
188
+ },
189
+ "effective_object_edge_stiffness": {
190
+ "min": 44.78173065185547,
191
+ "median": 1223.0963134765625,
192
+ "max": 12334.994140625,
193
+ "finite_count": 13559,
194
+ "nonfinite_count": 0
195
+ },
196
+ "object_edge_enabled": {
197
+ "min": 1.0,
198
+ "median": 1.0,
199
+ "max": 1.0,
200
+ "finite_count": 13559,
201
+ "nonfinite_count": 0
202
+ },
203
+ "object_edge_cap_mask": {
204
+ "min": 0.0,
205
+ "median": 0.0,
206
+ "max": 0.0,
207
+ "finite_count": 13559,
208
+ "nonfinite_count": 0
209
+ },
210
+ "effective_controller_edge_stiffness": {
211
+ "min": 56.80084991455078,
212
+ "median": 735.8990478515625,
213
+ "max": 14398.6552734375,
214
+ "finite_count": 300,
215
+ "nonfinite_count": 0
216
+ },
217
+ "controller_edge_enabled": {
218
+ "min": 1.0,
219
+ "median": 1.0,
220
+ "max": 1.0,
221
+ "finite_count": 300,
222
+ "nonfinite_count": 0
223
+ },
224
+ "controller_edge_cap_mask": {
225
+ "min": 0.0,
226
+ "median": 0.0,
227
+ "max": 0.0,
228
+ "finite_count": 300,
229
+ "nonfinite_count": 0
230
+ },
231
+ "effective_ground_friction": {
232
+ "min": 2.0,
233
+ "median": 2.0,
234
+ "max": 2.0,
235
+ "finite_count": 1,
236
+ "nonfinite_count": 0
237
+ },
238
+ "effective_ground_restitution": {
239
+ "min": 0.8632805347442627,
240
+ "median": 0.8632805347442627,
241
+ "max": 0.8632805347442627,
242
+ "finite_count": 1,
243
+ "nonfinite_count": 0
244
+ }
245
+ },
246
+ "guard_affected_counts": {
247
+ "raw_ground_friction": 1,
248
+ "raw_ground_restitution": 0,
249
+ "object_edge_stiffness": 0,
250
+ "controller_edge_stiffness": 0
251
+ },
252
+ "scored_object_model_file": "../cma_champion_model.json",
253
+ "fixed_model_inputs_file": "shared_fixed_model_inputs.json"
254
+ }