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processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-photometric_9390994.err

@@ -0,0 +1,43 @@
+wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY.
+wandb: Currently logged in as: serialexperimentsleon to https://api.wandb.ai. Use `wandb login --relogin` to force relogin
+wandb: setting up run 4616350c476f4d44
+wandb: Tracking run with wandb version 0.28.2
+wandb: Run data is saved locally in /vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261023_042814-4616350c476f4d44
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run DEFORM360_U08C_D4_sloth_ep3_45_204_photometric_20261022
+wandb: ⭐️ View project at https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: 🚀 View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/4616350c476f4d44
+wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files.
+wandb: updating run metadata
+wandb: uploading wandb-summary.json; uploading config.yaml
+wandb: 
+wandb: Run history:
+wandb:            deform/health/fit_complete ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb: deform/health/record/nonfinite_fields ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:          deform/health/record/ordinal ▁▂▂▂▂▂▂▃▃▃▃▃▃▃▃▄▄▄▄▄▅▅▅▅▅▆▆▆▆▆▇▇▇▇▇▇▇███
+wandb:         deform/health/score_completed ▁▁▁▁▂▂▂▂▂▂▃▃▃▃▃▃▄▄▄▄▅▅▅▅▅▅▆▆▆▆▆▆▇▇▇▇▇▇██
+wandb:          deform/health/score_consumed ▁▁▁▁▁▂▂▂▂▂▃▃▃▃▃▄▄▄▄▄▄▄▅▅▅▅▅▅▅▆▆▆▆▇▇▇▇███
+wandb:            deform/health/score_errors ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:           deform/health/score_pending ▁▁█▁▁▁█▁▁█▁▁▁▁▁▁▁▁▁▁▁▁▁█▁▁█▁▁▁▁▁█▁▁▁▁▁██
+wandb:          deform/health/service_active ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:       deform/health/source_update_lag ▃▇▇▁█▇▂▂▄▂▇▆▃▃▃▄█▃▃▁█▃██▂▃▁▁▇▄▁▁▆▄▅▇▇▁▄▃
+wandb:             deform/health/status_code ▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁▁
+wandb:                                  +267 ...
+wandb: 
+wandb: Run summary:
+wandb:            deform/health/fit_complete 0
+wandb: deform/health/record/nonfinite_fields 0
+wandb:          deform/health/record/ordinal 83841
+wandb:         deform/health/score_completed 500
+wandb:          deform/health/score_consumed 500
+wandb:            deform/health/score_errors 0
+wandb:           deform/health/score_pending 1
+wandb:          deform/health/service_active 1
+wandb:       deform/health/source_update_lag 159
+wandb:             deform/health/status_code 0
+wandb:                                  +276 ...
+wandb: 
+wandb: 🚀 View run DEFORM360_U08C_D4_sloth_ep3_45_204_photometric_20261022 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/4616350c476f4d44
+wandb: ⭐️ View project at: https://wandb.ai/serialexperimentsleon/belt_perception
+wandb: Synced 2 W&B file(s), 0 media file(s), 0 artifact file(s) and 1 other file(s)
+wandb: Find logs at: /vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/wandb/runs/wandb/run-20261023_042814-4616350c476f4d44/logs

processed/090-sloth/episode_3/runs/deform-sloth-ep3-d4-photo/evidence/u08c_d4_090-sloth_ep3/qualification/parcc_records/slurm/u08c-d4-photometric_9390994.out

@@ -0,0 +1,120 @@
+{
+  "agent_worktree_root": "/vast/projects/posa/contact-rich-robot/worktrees",
+  "allowed_worktree_roots": [
+    "/vast/projects/posa/contact-rich-robot/worktrees"
+  ],
+  "canonical_repo_path": "/vast/projects/posa/contact-rich-robot/belt_perception",
+  "data_root": "/vast/projects/posa/contact-rich-robot/data",
+  "execution_environment": "parcc",
+  "peer_ssh_alias": "magna-gpu",
+  "project_root": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022",
+  "run_root": "/vast/projects/posa/contact-rich-robot/runs",
+  "scratch_root": "/vast/projects/posa/contact-rich-robot/scratch",
+  "shared_root": "/vast/projects/posa/contact-rich-robot/data/belt_perception_shared",
+  "transfer_root": "/vast/projects/posa/contact-rich-robot/transfers",
+  "uv_cache_root": "/vast/projects/posa/contact-rich-robot/uv/cache"
+}
+Agent preflight summary
+  execution_environment: parcc
+  pwd:              /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022
+  git_root:         /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022
+  branch:           cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
+  belt.agentGuards: true
+  core.hooksPath:   scripts/git-hooks
+  marker.branch:          cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
+  marker.environment:     parcc
+  marker.canonical_path:  /vast/projects/posa/contact-rich-robot/belt_perception
+  marker.worktree_path:   /vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022
+  marker.base_commit:     50403540738fd45263b4b81c0ec1d1ab25d653f0
+  marker.created_at:      2026-10-22T14:49:06Z
+  resolved.canonical:     /vast/projects/posa/contact-rich-robot/belt_perception
+  resolved.worktree_root: /vast/projects/posa/contact-rich-robot/worktrees
+  resolved.data_root:     /vast/projects/posa/contact-rich-robot/data
+  resolved.shared_root:   /vast/projects/posa/contact-rich-robot/data/belt_perception_shared
+  resolved.run_root:      /vast/projects/posa/contact-rich-robot/runs
+  resolved.scratch_root:  /vast/projects/posa/contact-rich-robot/scratch
+  resolved.transfer_root: /vast/projects/posa/contact-rich-robot/transfers
+  resolved.uv_cache_root: /vast/projects/posa/contact-rich-robot/uv/cache
+  worktree status:
+    ## cursor/u08c_d4_sloth_ep3_fit_parcc_20261022
+  canonical status (/vast/projects/posa/contact-rich-robot/belt_perception):
+    ## main...origin/main
+
+Preflight passed. Safe to edit in this worktree.
+{
+  "dependency_paths": {
+    "gsplat": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/gsplat"
+    ],
+    "newton": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/third_party/newton/newton"
+    ],
+    "torch": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/torch"
+    ],
+    "warp": [
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp/__init__.py",
+      "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/lib/python3.11/site-packages/warp"
+    ]
+  },
+  "errors": [],
+  "expected": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
+    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
+  },
+  "marker": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv/.belt_perception_environment.json",
+  "observed": {
+    "environment_path": "/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv",
+    "profile": "parcc-e2e",
+    "schema_version": "belt-perception-parcc-environment-v1",
+    "source_commit": "8aba227de0e1a33bbfbf751ac353626637603a37",
+    "uv_lock_sha256": "ad331db1f54f9e017e152c131263d46135755db50ce7f0c6fff97a39f46c90ab"
+  },
+  "ok": true
+}
+[run_single_task] job_id=9390994 host=dgx028.cm.cluster
+[run_single_task] execution_environment=parcc profile=parcc-e2e
+[run_single_task] worktree=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022 commit=8aba227de0e1a33bbfbf751ac353626637603a37 uv_environment=/vast/projects/posa/contact-rich-robot/worktrees/belt_perception_wt_u08c_d4_sloth_ep3_fit_parcc_20261022/.venv
+[run_single_task] output_root=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/photometric_job scratch=/vast/projects/posa/contact-rich-robot/scratch/u08c-d4-photometric-20261022/tmp logs=/vast/projects/posa/contact-rich-robot/runs/u08c-d4-photometric-20261022/slurm/u08c-d4-photometric_9390994.out,/vast/projects/posa/contact-rich-robot/runs/u08c-d4-photometric-20261022/slurm/u08c-d4-photometric_9390994.err
+NVIDIA B200, GPU-197331cb-7d82-d9bd-b60e-b8bfee95a139
+[run_single_task] command=bash /vast/projects/posa/contact-rich-robot/runs/u08c-d4-sloth-ep3-20261022/launch/photometric_chain.sh 
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-photometric-20261022/warp-cache/1.16.0
+Module belt_perception.physics.mass_spring.warp_kernels 219139e load on device 'cuda:0' took 3471.18 ms  (compiled)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA B200 MIG 2g.45gb" (44 GiB, sm_100, mempool enabled)
+   Kernel cache:
+     /vast/projects/posa/contact-rich-robot/scratch/u08c-d4-photometric-20261022/warp-cache/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 33.81 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 25.20 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 22.25 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 26.96 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 33.54 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 28.68 ms  (cached)
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1556.79 ms  (compiled)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 569.80 ms  (compiled)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 338.69 ms  (compiled)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 252.23 ms  (compiled)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 311.61 ms  (compiled)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 385.55 ms  (compiled)
+{
+  "status": "completed"
+}
+[photometric_chain] DP5 exit 0 at 2026-10-24T08:17:35Z; binding
+/vast/projects/posa/contact-rich-robot/data/belt_perception_runs/U08c_D4_090-sloth_ep3/online/online_parent.json
+[photometric_chain] binding written at 2026-10-24T08:18:20Z
+[run_single_task] exit_status=0

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

@@ -0,0 +1,423 @@
+{
+  "schema_version": "p12_privileged_adam_checkpoint.v1",
+  "method_id": "deform360_e2_photometric_adam_v1",
+  "label": "boundary",
+  "executed_epochs": 500,
+  "score": null,
+  "best_score": 0.06102291671968673,
+  "patience_epochs": 0,
+  "window_start_score": null,
+  "leaf_names": [
+    "log_object_edge_stiffness",
+    "raw_ground_friction",
+    "raw_ground_restitution",
+    "log_controller_edge_stiffness"
+  ],
+  "lr": 0.001,
+  "betas": [
+    0.9,
+    0.99
+  ],
+  "eps": 1e-08,
+  "spring_y_clamp": [
+    0.0,
+    100000.0
+  ],
+  "ground_restitution_clamp": [
+    0.0,
+    1.0
+  ],
+  "ground_friction_clamp": [
+    0.0,
+    2.0
+  ],
+  "clamp_at_use_only": true,
+  "metric_role": "all_data_in_sample",
+  "arrays_file": "boundary_a8b9444847f3467e8058385305a69584.npz",
+  "optimizer_file": "boundary_a8b9444847f3467e8058385305a69584_optimizer.pt",
+  "arrays_sha256": "06d1002abcffbef14c736d95b58bd101d213183d45b659805b3fce7f77739d76",
+  "optimizer_sha256": "9557c00818812a8160b19720376890399492771f5b1a039957c61b5fc1c3c702",
+  "stage": "adam",
+  "completed_passes": 500,
+  "score_status": "unscored",
+  "adam_transition_batch_size": 1,
+  "cumulative_optimizer_updates": 79500,
+  "adam_update_count": 79500,
+  "score_selection_progress": {
+    "queue": "pass_snapshot_references_v2",
+    "submitted_count": 501,
+    "consumed_count": 500,
+    "last_submitted_update": 79500,
+    "last_consumed_update": 79341,
+    "pending": [
+      {
+        "reference": {
+          "source_update": 79500,
+          "completed_passes": 500,
+          "next_interval": 0,
+          "trained_intervals": 79500,
+          "snapshot": "pass_end_0500",
+          "candidate": true
+        },
+        "status": "registered"
+      }
+    ]
+  },
+  "best_source_update": 70596,
+  "pass_science": {
+    "completed_passes": 500,
+    "adam_schedule": "source_transition_v1",
+    "next_interval": 0,
+    "trained_intervals": 79500,
+    "adam_transition_batch_size": 1,
+    "optimizer_updates": 1,
+    "cumulative_optimizer_updates": 79500,
+    "updates": [
+      {
+        "batch_transition_count": 1,
+        "batch_weight_sum": 0.006289308176100629,
+        "lr": 0.001,
+        "leaf_metrics": {
+          "log_object_edge_stiffness": {
+            "gradient_l2": 0.0003295432834420353,
+            "update_l2": 0.15209102630615234
+          },
+          "raw_ground_friction": {
+            "gradient_l2": 0.0,
+            "update_l2": 0.0
+          },
+          "raw_ground_restitution": {
+            "gradient_l2": 0.004227242432534695,
+            "update_l2": 0.0008778274059295654
+          },
+          "log_controller_edge_stiffness": {
+            "gradient_l2": 1.9295906895422377e-05,
+            "update_l2": 0.0044332463294267654
+          }
+        },
+        "training_path_transitions": [
+          {
+            "episode_id": "deform360_090-sloth_episode_3_aligned_45_204",
+            "transition_index": 158,
+            "loss": 0.07171255772742262,
+            "weight": 0.006289308176100629
+          }
+        ],
+        "loss_role": "pre_update_training_path_not_checkpoint_score",
+        "dead_counts": {
+          "object": 23786,
+          "attachment": 51,
+          "ground": 1
+        },
+        "ground_context": {
+          "ground_friction/raw": 2.0076630115509033,
+          "ground_friction/effective": 2.0,
+          "ground_friction/clamp_changed": 1,
+          "ground_restitution/raw": 0.08553966134786606,
+          "ground_restitution/effective": 0.08553966134786606,
+          "ground_restitution/clamp_changed": 0,
+          "ground_friction/contact_active": 1,
+          "ground_restitution/contact_active": 1
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+        "photometric_transition": {
+          "transition_index": 158,
+          "loss": 0.07171255772742262,
+          "state_finite": true,
+          "frame_index": 204,
+          "components": {
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+            "seg_l1": 0.023006904870271683,
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+            "depth": 0.0036084446572296693,
+            "rgb_loss": 0.03551032021641731,
+            "seg_loss": 0.036198630928993225,
+            "total": 0.07171255772742262
+          },
+          "views": [
+            {
+              "camera": "brics-odroid-015_cam0",
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+              "depth": 0.006896746683595572,
+              "rgb_loss": 0.04387921094894409,
+              "seg_loss": 0.04129472374916077,
+              "total": 0.08518083144478845,
+              "valid_depth_pixels": 236004,
+              "excluded_depth_pixels": 685596,
+              "object_depth_holes": 320,
+              "depth_full_image_mean_m": 0.006896746683595572,
+              "depth_decomposition": {
+                "object_visible": {
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+                  "full_image_mean_m": 0.00404476860199835
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+                "object_occluded": {
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+                  "full_image_mean_m": 0.002851978081597222
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+                "nonobject_visible": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                },
+                "nonobject_occluded": {
+                  "pixels": 0,
+                  "full_image_mean_m": 0.0
+                }
+              }
+            },
+            {
+              "camera": "brics-odroid-022_cam1",
+              "l1": 0.02986523136496544,
+              "ssim_fused": 0.8850258588790894,
+              "seg_l1": 0.03783421218395233,
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+              "depth": 0.003613589970418769,
+              "rgb_loss": 0.04688701406121254,
+              "seg_loss": 0.05326259136199951,
+              "total": 0.10015321528789217,
+              "valid_depth_pixels": 154174,
+              "excluded_depth_pixels": 767426,
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+              "depth_full_image_mean_m": 0.003613589970418769,
+              "depth_decomposition": {
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+                  "full_image_mean_m": 0.0021700700051409914
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