processed/001-rope/episode_0/runs/deform-rope-ep0-e2: payload batch 29/29
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_083_models.npz +3 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_084.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_084_models.npz +3 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_085.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_088.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_090.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_093.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_097.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_098.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_098_models.npz +3 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_099.json +0 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/generation_099_models.npz +3 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/shared_inputs.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_generations/shared_model_arrays.npz +3 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_winner_pending.json +0 -0
- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/initialization_score.json +2082 -0
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- processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/observation_fit_inputs.json +209 -0
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/cma_winner_655d0d1e9d2c45938e16f58b0f1c2a3f.npz
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See raw diff
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/initialization_score.json
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|
|
| 1 |
+
{
|
| 2 |
+
"role": "pre-CMA source-center rollout; not a CMA ask, not told, not a gate",
|
| 3 |
+
"normalized": [
|
| 4 |
+
0.3,
|
| 5 |
+
0.25,
|
| 6 |
+
0.5,
|
| 7 |
+
0.4285714285714285,
|
| 8 |
+
0.5714285714285714,
|
| 9 |
+
0.5,
|
| 10 |
+
0.15,
|
| 11 |
+
0.7,
|
| 12 |
+
0.15,
|
| 13 |
+
0.25,
|
| 14 |
+
0.15,
|
| 15 |
+
0.5
|
| 16 |
+
],
|
| 17 |
+
"physical_parameters": {
|
| 18 |
+
"spring_Y": 30000.0,
|
| 19 |
+
"object_radius": 0.02,
|
| 20 |
+
"object_max_neighbours": 30,
|
| 21 |
+
"controller_radius": 0.04,
|
| 22 |
+
"controller_max_neighbours": 50,
|
| 23 |
+
"collide_elas": 0.5,
|
| 24 |
+
"collide_fric": 0.3,
|
| 25 |
+
"collide_object_elas": 0.7,
|
| 26 |
+
"collide_object_fric": 0.3,
|
| 27 |
+
"collision_dist": 0.02,
|
| 28 |
+
"drag_damping": 3.0,
|
| 29 |
+
"dashpot_damping": 100.0
|
| 30 |
+
},
|
| 31 |
+
"J_CMA": 0.0001504234999387677,
|
| 32 |
+
"J_obs": 0.0001472651228790293,
|
| 33 |
+
"finite": true,
|
| 34 |
+
"arrays_file": "initialization_score.npz",
|
| 35 |
+
"topology_num_object_springs": 22677,
|
| 36 |
+
"loss_breakdown": {
|
| 37 |
+
"loss_id": "source_tracked_observation_chamfer_track_acc_v1",
|
| 38 |
+
"stages": [
|
| 39 |
+
"cma"
|
| 40 |
+
],
|
| 41 |
+
"chamfer_weight": 1.0,
|
| 42 |
+
"track_weight": 1.0,
|
| 43 |
+
"acceleration_weight": 0.01,
|
| 44 |
+
"smooth_l1_beta": 1.0,
|
| 45 |
+
"denominators": "frozen sum V[1] and sum M[0]; current masks gate numerators",
|
| 46 |
+
"reduction": "mean_over_episodes(mean_over_transitions(stage loss))",
|
| 47 |
+
"integration_substep_dt_s": 4.9975012493753125e-05,
|
| 48 |
+
"integration_num_substeps": 667,
|
| 49 |
+
"episodes": [
|
| 50 |
+
{
|
| 51 |
+
"episode_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 52 |
+
"transitions": [
|
| 53 |
+
{
|
| 54 |
+
"transition_index": 0,
|
| 55 |
+
"loss": 1.787527935448452e-06,
|
| 56 |
+
"observation_loss": 1.787527935448452e-06,
|
| 57 |
+
"chamfer": 1.5201304677248118e-06,
|
| 58 |
+
"track": 2.673974393019307e-07,
|
| 59 |
+
"acceleration": 0.0,
|
| 60 |
+
"visible_count": 1386,
|
| 61 |
+
"motion_valid_count": 1386,
|
| 62 |
+
"n_nodes": 1386,
|
| 63 |
+
"state_finite": true,
|
| 64 |
+
"frame_indices": [
|
| 65 |
+
92,
|
| 66 |
+
93
|
| 67 |
+
],
|
| 68 |
+
"times_s": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.03333333333333333
|
| 71 |
+
],
|
| 72 |
+
"finite": true
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"transition_index": 1,
|
| 76 |
+
"loss": 4.709958011517301e-05,
|
| 77 |
+
"observation_loss": 3.3303913369309157e-06,
|
| 78 |
+
"chamfer": 2.802596554829506e-06,
|
| 79 |
+
"track": 5.277947821014095e-07,
|
| 80 |
+
"acceleration": 4.3769188778242096e-05,
|
| 81 |
+
"visible_count": 1386,
|
| 82 |
+
"motion_valid_count": 1386,
|
| 83 |
+
"n_nodes": 1386,
|
| 84 |
+
"state_finite": true,
|
| 85 |
+
"frame_indices": [
|
| 86 |
+
93,
|
| 87 |
+
94
|
| 88 |
+
],
|
| 89 |
+
"times_s": [
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/initialization_score.npz
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size 3015162
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/inputs/fit_inputs.json
ADDED
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|
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|
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|
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|
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|
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|
| 146 |
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|
| 147 |
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/inputs/model.npz
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ADDED
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|
| 21 |
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| 22 |
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/inputs/source_initialization.npz
ADDED
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:c697036af2d277ec48b37760a7ad4fbcdaf0685c267ec67f5ae72ea008897db0
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size 3132
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processed/001-rope/episode_0/runs/deform-rope-ep0-e2/native/observation_fit_inputs.json
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|
| 1 |
+
{
|
| 2 |
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"method_id": "prepared_observation_source_cma_then_source_adam_v1",
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| 3 |
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"learned_model_id": "phystwin_shared_source_fitted_controller_log_y_transition_v1",
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| 4 |
+
"controller_law_id": "source_strain_log_y_prescribed_qv_v1",
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| 5 |
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"execution_mode": "atomic_captured",
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| 6 |
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"adam_schedule_id": "observation_source_transition_pass_end_scores_v1",
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| 7 |
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"adam_schedule": "source_transition_v1",
|
| 8 |
+
"adam_transition_batch_size": 1,
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| 9 |
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"diagnostic_fixture": false,
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| 10 |
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"fit_policy": {
|
| 11 |
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"policy": "deform360_d_budget_v1",
|
| 12 |
+
"cma_population": 11,
|
| 13 |
+
"cma_seed": 42,
|
| 14 |
+
"cma_native_stopping": true,
|
| 15 |
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"cma_max_generations": 100,
|
| 16 |
+
"cma_max_asks": 1100,
|
| 17 |
+
"cma_objective": "J_CMA = mean_t(C_t + T_t + A_t), candidate-local acceleration history",
|
| 18 |
+
"cma_physical_nonfinite_score": "+infinity",
|
| 19 |
+
"cma_resample_failed": false,
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| 20 |
+
"adam_schedule": "source_transition_v1",
|
| 21 |
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"adam_transition_batch_size": 1,
|
| 22 |
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"adam_passes": 500,
|
| 23 |
+
"transitions_per_pass": 96,
|
| 24 |
+
"adam_updates": 48000,
|
| 25 |
+
"partial_final_pass": false,
|
| 26 |
+
"adam_objective": "L_t = C_t + T_t; Warp tape seeds; unscaled per-transition gradients",
|
| 27 |
+
"score_candidates": "Adam0 (exact CMA model) and every completed pass end",
|
| 28 |
+
"frozen_scores": 501,
|
| 29 |
+
"frozen_score_transitions": 48096,
|
| 30 |
+
"frozen_score": "J_obs = mean_t(C_t + T_t); C/T/A and J_CMA reported beside it",
|
| 31 |
+
"selection": "lowest_finite_frozen_J_obs_earliest_source_update_tie",
|
| 32 |
+
"score_execution": "nonblocking: immutable pass snapshot committed first, then scored by a separate spawned scorer process with its own runtime/objective/workspace; training only polls ready results; source-update-ordered BEST; final drain after training",
|
| 33 |
+
"software_defect_or_oom": "error"
|
| 34 |
+
},
|
| 35 |
+
"adam_update_limit": null,
|
| 36 |
+
"objective": {
|
| 37 |
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"loss_id": "source_tracked_observation_chamfer_track_acc_v1",
|
| 38 |
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"chamfer_weight": 1.0,
|
| 39 |
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"track_weight": 1.0,
|
| 40 |
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"acceleration_weight": 0.01,
|
| 41 |
+
"denominators": "frozen sum V[1] and sum M[0]"
|
| 42 |
+
},
|
| 43 |
+
"inputs": {
|
| 44 |
+
"trajectory_id": "deform360_001-rope_episode_0_aligned_92_188",
|
| 45 |
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"files_sha256": {
|
| 46 |
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"fit_inputs.json": "035a285f5a31516a4f6d12840a27a36a517e108191ca5eacea03464c94177345",
|
| 47 |
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"model.npz": "e10508a1d6c7cb1b7b02a052db7245b9956aa1f041bb12fa711ae3dfe0dab7ba",
|
| 48 |
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"observations.npz": "9bf42b29e1e216effef847697ca07579e94f1cd0160b8bc18da55572b36b3e73",
|
| 49 |
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"scene.npz": "eaf6ff38041018a08de8c784556a937bb3995ef6f490848840aaac6df28f619d",
|
| 50 |
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"source_initialization.json": "7e5f7aff800c77f3011f1f2fffc383efd2ade6c96f7564292b97d8ce4f58fe7a",
|
| 51 |
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"source_initialization.npz": "36ff641b0d014abafb24e358cdc67a8d102ef6607023d349444a4a709e0c571c",
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| 52 |
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"timeline.npz": "c697036af2d277ec48b37760a7ad4fbcdaf0685c267ec67f5ae72ea008897db0"
|
| 53 |
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},
|
| 54 |
+
"provenance": {
|
| 55 |
+
"e1": "deform360 E1 2026-09-23",
|
| 56 |
+
"span_owner_decision": "92-188 (2026-09-23)",
|
| 57 |
+
"d_frame": "E1 D-FRAME, owner-approved 2026-09-23: +z = normal of the plane through 65 static rail landmarks triangulated from 18 calibrated downward views (1.11 deg from world +y; gravity = -normal, level-support assumption); ground = lowest tracked rope point over static pre-grasp aligned frames 0-60",
|
| 58 |
+
"source_initialization": {
|
| 59 |
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"n_raw_tracks": 5426,
|
| 60 |
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"n_unique_tracks": 5426,
|
| 61 |
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"n_original": 1386,
|
| 62 |
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"n_surface": 1386,
|
| 63 |
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"n_all": 1386,
|
| 64 |
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"n_controllers": 30,
|
| 65 |
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"clip_changed_values_all_frames": 108,
|
| 66 |
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"clip_changed_selected_first_frame": 0,
|
| 67 |
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"clip_changed_selected_all_frames": 50,
|
| 68 |
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"clip_changed_selected_frames": 24,
|
| 69 |
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"clip_max_displacement_m": 0.0021061120058462873,
|
| 70 |
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"prior": "none: source shape_prior=False",
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| 71 |
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"voxel_size_m": 0.005,
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| 72 |
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"voxel_origin_m": [
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| 73 |
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0.08530396303361709,
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-0.16420982899072334,
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| 75 |
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-0.009704744071842207
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| 76 |
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],
|
| 77 |
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"registration_source": "E1 D-FRAME, owner-approved 2026-09-23: +z = normal of the plane through 65 static rail landmarks triangulated from 18 calibrated downward views (1.11 deg from world +y; gravity = -normal, level-support assumption); ground = lowest tracked rope point over static pre-grasp aligned frames 0-60",
|
| 78 |
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"ground_clip_applied": true
|
| 79 |
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}
|
| 80 |
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}
|
| 81 |
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},
|
| 82 |
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"interval": {
|
| 83 |
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"clock_id": "learned_observation_30hz_667_exact_v1",
|
| 84 |
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"observation_hz": 30.0,
|
| 85 |
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"substep_dt_s": 4.9975012493753125e-05,
|
| 86 |
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"num_substeps": 667
|
| 87 |
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},
|
| 88 |
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"scene": {
|
| 89 |
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"coordinate_frame": "deform360_ep0_support_registered_v1",
|
| 90 |
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"gravity_mps2": [
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| 91 |
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0.0,
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0.0,
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| 93 |
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-9.8
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| 94 |
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],
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| 95 |
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"ground_height_m": -0.009719373343397415,
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| 96 |
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"object_collision_enabled": false,
|
| 97 |
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"controller_velocity_source": "source_zero_controller_velocity"
|
| 98 |
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},
|
| 99 |
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"roles": {
|
| 100 |
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"n_original": 1386,
|
| 101 |
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"n_surface": 1386,
|
| 102 |
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"n_all": 1386,
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| 103 |
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"n_controllers": 30,
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| 104 |
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"transitions": 96,
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| 105 |
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"aligned_frame_ids": [
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]
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},
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"privileged_evaluation": {
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"status": "unavailable",
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"reason": "real trajectory has no privileged state/parameters"
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}
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}
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