sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 45/45

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a04/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 4,
+  "global_ask_index": 2743,
+  "normalized": [
+    0.41505100777805437,
+    0.9999911609826283,
+    0.9978501624852746,
+    0.507060111929272,
+    0.8631773051803618,
+    0.7302912561653937,
+    0.3433962457723718,
+    0.6351585533885923,
+    0.1533713294190708,
+    0.8442457151219597,
+    0.9999951212930471,
+    0.9999979761720547
+  ],
+  "settings": {
+    "spring_y": 41505.10077780543,
+    "object_radius_m": 0.049999646439305136,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045494207835049046,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7302912561653937,
+    "ground_friction": 0.6867924915447436,
+    "object_restitution": 0.6351585533885923,
+    "object_friction": 0.3067426588381416,
+    "collision_distance_m": 0.04376982860487839,
+    "drag_damping": 19.99990242586094,
+    "dashpot_damping": 199.99959523441092
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.058888179948553,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 2,
+      "wave_members": [
+        4,
+        5
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.056789649184793234,
+        "workspace_s": 0.21036899485625327,
+        "objective_s": 0.005782624939456582,
+        "stage_capture_s": 0.1308535821735859,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007597401970997453,
+            "complete_s": 0.018485782900825143
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001189329195767641,
+            "complete_s": 0.0002568229101598263
+          }
+        },
+        "total_s": 0.36594027397222817
+      }
+    }
+  },
+  "wall_time_s": 9.012170076137409,
+  "outcome": "finite",
+  "score": 0.0008532303123768796,
+  "tell_score": 0.0008532303123768796,
+  "observation_score": 0.000492194892301925,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a04/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e54c0a362ae8f3047daeea7d7f20c734cacb5363769d7330c01ce6ac7df906
+size 2528894

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a05/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec23e583d7bd6af9be15f7bc4aaef1cbc77e2992b21bf66dff883ecbdc79cd00
+size 88570

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a05/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81881d66530c9947549d989c5579defd20d792b881cd6f17db87229dd7df6139
+size 396740

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a05/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 5,
+  "global_ask_index": 2744,
+  "normalized": [
+    0.4144593623390524,
+    0.9999958144890083,
+    0.9981843808904741,
+    0.5070625179712542,
+    0.862111850711625,
+    0.7248563206087922,
+    0.35370990503887095,
+    0.6387705560991569,
+    0.15533318488194195,
+    0.8427389226732863,
+    0.9999862297202818,
+    0.9999999974114817
+  ],
+  "settings": {
+    "spring_y": 41445.93623390524,
+    "object_radius_m": 0.04999983257956034,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.0454943762579878,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7248563206087922,
+    "ground_friction": 0.7074198100777419,
+    "object_restitution": 0.6387705560991569,
+    "object_friction": 0.3106663697638839,
+    "collision_distance_m": 0.04370955690693146,
+    "drag_damping": 19.999724594405638,
+    "dashpot_damping": 199.99999948229635
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.058888179948553,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 2,
+      "wave_members": [
+        4,
+        5
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05277571501210332,
+        "workspace_s": 0.3000031302217394,
+        "objective_s": 0.006161585915833712,
+        "stage_capture_s": 0.128471135860309,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008001612965017557,
+            "complete_s": 0.018893525004386902
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010199402458965778,
+            "complete_s": 0.00022106897085905075
+          }
+        },
+        "total_s": 0.4539405591785908
+      }
+    }
+  },
+  "wall_time_s": 8.592209344962612,
+  "outcome": "finite",
+  "score": 0.0008530981961164487,
+  "tell_score": 0.0008530981961164487,
+  "observation_score": 0.0004923240343553807,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d3f805f03bc11e28fb850017f89e6860714ddbe54ac5860e29995bd3e90e53c
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a06/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f29fcd67da10ae9a170b4a7a0a081cd331b736cdb55db55ef259fa4f50edc25
+size 88586

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a06/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b58efcb795e26f1c17618d498f570252b13144773625a6fe241d5f8163fc04f
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a06/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 6,
+  "global_ask_index": 2745,
+  "normalized": [
+    0.4151760804328892,
+    0.9999693987037217,
+    0.9978106484743994,
+    0.507095224308924,
+    0.8623078728014566,
+    0.7255315756007071,
+    0.35039399056936704,
+    0.6369619304326319,
+    0.1532948716008296,
+    0.8414527367886636,
+    0.9999999996807073,
+    0.9999994449359578
+  ],
+  "settings": {
+    "spring_y": 41517.60804328892,
+    "object_radius_m": 0.049998775948148874,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549666570162468,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7255315756007071,
+    "ground_friction": 0.7007879811387341,
+    "object_restitution": 0.6369619304326319,
+    "object_friction": 0.3065897432016592,
+    "collision_distance_m": 0.043658109471546545,
+    "drag_damping": 19.999999993614146,
+    "dashpot_damping": 199.99988898719155
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.06730326404795,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 3,
+      "wave_members": [
+        6,
+        7
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05846765800379217,
+        "workspace_s": 0.22116873413324356,
+        "objective_s": 0.00582253304310143,
+        "stage_capture_s": 0.13120191195048392,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007964924909174442,
+            "complete_s": 0.018849255051463842
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.369011968374252e-05,
+            "complete_s": 0.00020662415772676468
+          }
+        },
+        "total_s": 0.37741108308546245
+      }
+    }
+  },
+  "wall_time_s": 9.026609641965479,
+  "outcome": "finite",
+  "score": 0.0008532305478156059,
+  "tell_score": 0.0008532305478156059,
+  "observation_score": 0.0004921683854252278,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a06/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65feb54baa8ec6fcae1864524b07e5293847f461b672c0f2efaf0bd6516f88a
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a07/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a7cd1d89a68d5b85fa83a1bb78bd6151cabfcdea8ff53abc30691931938754
+size 88546

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a07/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e276723225ff81c7b4258fa6b4275b190dab6f1035fc458b109b1ba60aa5a12
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 7,
+  "global_ask_index": 2746,
+  "normalized": [
+    0.4144133961205732,
+    0.9999909969178922,
+    0.9981203993487433,
+    0.5070954082197489,
+    0.8613138310019258,
+    0.7271188498949355,
+    0.3428704082143946,
+    0.631282492178265,
+    0.1566680086784732,
+    0.8412288470988546,
+    0.9999917194842711,
+    0.9999330490343387
+  ],
+  "settings": {
+    "spring_y": 41441.33961205732,
+    "object_radius_m": 0.04999963987671569,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549667857538243,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7271188498949355,
+    "ground_friction": 0.6857408164287891,
+    "object_restitution": 0.631282492178265,
+    "object_friction": 0.3133360173569464,
+    "collision_distance_m": 0.043649153883954184,
+    "drag_damping": 19.99983438968542,
+    "dashpot_damping": 199.98660980686773
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.06730326404795,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 3,
+      "wave_members": [
+        6,
+        7
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05398210906423628,
+        "workspace_s": 0.2949819350615144,
+        "objective_s": 0.005799156846478581,
+        "stage_capture_s": 0.12575945002026856,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00777085404843092,
+            "complete_s": 0.018670493038371205
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001407198142260313,
+            "complete_s": 0.00026338384486734867
+          }
+        },
+        "total_s": 0.4456461479421705
+      }
+    }
+  },
+  "wall_time_s": 8.593252324033529,
+  "outcome": "finite",
+  "score": 0.0008530984796861532,
+  "tell_score": 0.0008530984796861532,
+  "observation_score": 0.0004923333846573915,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a07/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c128cfed3b1724edab6f9f12f1cb16d413d8e0ab3a4d217f0ae0b26c3cbee77a
+size 2528878

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a08/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8babac0184893e89629b953e52133c63e48533505bf44da4e20fe3319c1d125b
+size 88574

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a08/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07006918c0188441e72bf995c55b31f753bdbfb7c0386b38c57cffa02727950f
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a08/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 8,
+  "global_ask_index": 2747,
+  "normalized": [
+    0.4147998745737503,
+    0.9999922574539425,
+    0.9978701685993316,
+    0.5071070036953035,
+    0.8607155584904523,
+    0.7278668119595779,
+    0.3523905160321541,
+    0.6382380248683379,
+    0.15106813091824484,
+    0.8431329182427213,
+    0.9999988998082595,
+    0.9999999990519713
+  ],
+  "settings": {
+    "spring_y": 41479.98745737503,
+    "object_radius_m": 0.0499996902981577,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045497490258671246,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7278668119595779,
+    "ground_friction": 0.7047810320643082,
+    "object_restitution": 0.6382380248683379,
+    "object_friction": 0.3021362618364897,
+    "collision_distance_m": 0.043725316729708856,
+    "drag_damping": 19.99997799616519,
+    "dashpot_damping": 199.99999981039426
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.066442432114854,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 4,
+      "wave_members": [
+        8,
+        9
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.057881814893335104,
+        "workspace_s": 0.21448030602186918,
+        "objective_s": 0.005761700915172696,
+        "stage_capture_s": 0.12522506806999445,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008908685995265841,
+            "complete_s": 0.01977677596732974
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010020099580287933,
+            "complete_s": 0.00022961595095694065
+          }
+        },
+        "total_s": 0.3656517940107733
+      }
+    }
+  },
+  "wall_time_s": 9.028410191880539,
+  "outcome": "finite",
+  "score": 0.0008532297940204695,
+  "tell_score": 0.0008532297940204695,
+  "observation_score": 0.000492249547250549,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a08/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d9f8b910ee5df7b7bb9675db1ae263ddcea4f7a45a90b2ae43a2882d53be61
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a09/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb
+size 88546

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a09/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4dd13bdfaa127174fc8c34d3eb55ef9fd10427a4eac694ca579cba4239efa6
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a09/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 9,
+  "global_ask_index": 2748,
+  "normalized": [
+    0.4145374123283376,
+    0.999965649689177,
+    0.9982006403079239,
+    0.5071280729870828,
+    0.8636390679221817,
+    0.7224742102231663,
+    0.3509487374873799,
+    0.63571744135177,
+    0.1593626577423345,
+    0.8435955415292765,
+    0.999996876351164,
+    0.9999999747560071
+  ],
+  "settings": {
+    "spring_y": 41453.74123283376,
+    "object_radius_m": 0.04999862598756708,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045498965109095804,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7224742102231663,
+    "ground_friction": 0.7018974749747598,
+    "object_restitution": 0.63571744135177,
+    "object_friction": 0.318725315484669,
+    "collision_distance_m": 0.043743821661171065,
+    "drag_damping": 19.999937527023278,
+    "dashpot_damping": 199.99999495120142
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.066442432114854,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 4,
+      "wave_members": [
+        8,
+        9
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05469380714930594,
+        "workspace_s": 0.3017717378679663,
+        "objective_s": 0.0060897450894117355,
+        "stage_capture_s": 0.13258998398669064,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008345638867467642,
+            "complete_s": 0.0192350170109421
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.0001102411188185215,
+            "complete_s": 0.0002442209515720606
+          }
+        },
+        "total_s": 0.46012069494463503
+      }
+    }
+  },
+  "wall_time_s": 8.607212453149259,
+  "outcome": "finite",
+  "score": 0.0008530962211607439,
+  "tell_score": 0.0008530962211607439,
+  "observation_score": 0.0004923070377924872,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": true
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a09/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08459674aaf67754f6e45f73e9639d36381a0aeece42ce336a8328e668cc6b2
+size 11136898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a10/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa02939ac3ce8a8b0dfa9431166a5bc200dcb04da9858955cce01614e180df1
+size 88570

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a10/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5155909a0c8e77b10a6e0b5c4a2ef09cbd42fd8e7c9ba9c751855e459df2c674
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a10/record.json

@@ -0,0 +1,148 @@
+{
+  "stage": "cma_ask",
+  "generation": 249,
+  "ask_index": 10,
+  "global_ask_index": 2749,
+  "normalized": [
+    0.4133052361070121,
+    0.9999989476037855,
+    0.9980135375858201,
+    0.5070456675220388,
+    0.8611001436511303,
+    0.7272226869115165,
+    0.3445744328955474,
+    0.6341155398807841,
+    0.15263073634712243,
+    0.843176138172684,
+    0.9999883011110887,
+    0.999988153445324
+  ],
+  "settings": {
+    "spring_y": 41330.52361070121,
+    "object_radius_m": 0.049999957904151425,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549319672654272,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7272226869115165,
+    "ground_friction": 0.6891488657910948,
+    "object_restitution": 0.6341155398807841,
+    "object_friction": 0.30526147269424486,
+    "collision_distance_m": 0.043727045526907364,
+    "drag_damping": 19.999766022221774,
+    "dashpot_damping": 199.9976306890648
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 5.643451452022418,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 5,
+      "wave_members": [
+        10
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05728441197425127,
+        "workspace_s": 0.2131167110055685,
+        "objective_s": 0.0059546781703829765,
+        "stage_capture_s": 0.13089240179397166,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008091124007478356,
+            "complete_s": 0.01897135004401207
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011714710853993893,
+            "complete_s": 0.000236863037571311
+          }
+        },
+        "total_s": 0.36933985399082303
+      }
+    }
+  },
+  "wall_time_s": 6.083265139022842,
+  "outcome": "finite",
+  "score": 0.0008531256286105399,
+  "tell_score": 0.0008531256286105399,
+  "observation_score": 0.0004925737025429848,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/a10/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da93276925562fdcd87b5dcb195d29838da4b909ee3f60fa3f951bda9dc1cf76
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/issued.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6dc208133cb0d6d93e92801205179d0aed093809caad850717b7ab520417e8d
+size 1184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/lifecycle.jsonl

@@ -0,0 +1,48 @@
+{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791685954.611994, "t_invocation_s": 0.000121962, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685954.6127298, "t_invocation_s": 0.000858028, "wave": 0, "members": [0, 1], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685955.1369023, "t_invocation_s": 0.525030702, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05486153997480869, "workspace_s": 0.30820090998895466, "objective_s": 0.006061678985133767, "stage_capture_s": 0.12948920903727412, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008327347924932837, "complete_s": 0.019194660941138864}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.678793139755726e-05, "complete_s": 0.0002078530378639698}}, "total_s": 0.46331514907069504}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685955.5766578, "t_invocation_s": 0.964786009, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05259176599793136, "workspace_s": 0.22108191321603954, "objective_s": 0.005988954799249768, "stage_capture_s": 0.13064944511279464, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007647714810445905, "complete_s": 0.018545521888881922}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010480196215212345, "complete_s": 0.00023670983500778675}}, "total_s": 0.3766717470716685}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685955.5818043, "t_invocation_s": 0.969932513, "wave": 0, "members": [0, 1]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685963.6464138, "t_invocation_s": 9.034542226, "wave": 0, "index": 0, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685963.6593168, "t_invocation_s": 9.047444765, "wave": 0, "index": 1, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685963.6882646, "t_invocation_s": 9.076393257, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685963.7166796, "t_invocation_s": 9.104808049, "wave": 0, "commit_order": [0, 1]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685963.7177196, "t_invocation_s": 9.105847647, "wave": 1, "members": [2, 3], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685964.2310665, "t_invocation_s": 9.61919448, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.14066501799970865, "workspace_s": 0.21630504704080522, "objective_s": 0.005806762026622891, "stage_capture_s": 0.12559480406343937, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007627708138898015, "complete_s": 0.018526369938626885}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.958306327462196e-05, "complete_s": 0.00023296591825783253}}, "total_s": 0.36664474103599787}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685964.7457564, "t_invocation_s": 10.133884786, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.0510029629804194, "workspace_s": 0.2996896079275757, "objective_s": 0.005822734907269478, "stage_capture_s": 0.12868988211266696, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007635724963620305, "complete_s": 0.018528440035879612}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010379613377153873, "complete_s": 0.00023811310529708862}}, "total_s": 0.453156977891922}, "object_springs": 18544, "controller_springs": 1140}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685964.750951, "t_invocation_s": 10.139079268, "wave": 1, "members": [2, 3]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685972.811006, "t_invocation_s": 18.199134276, "wave": 1, "index": 2, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685972.8236346, "t_invocation_s": 18.211762759, "wave": 1, "index": 3, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685972.852041, "t_invocation_s": 18.240169586, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685972.880872, "t_invocation_s": 18.269000644, "wave": 1, "commit_order": [2, 3]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685972.8819845, "t_invocation_s": 18.270112616, "wave": 2, "members": [4, 5], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685973.3106577, "t_invocation_s": 18.698786009, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.056789649184793234, "workspace_s": 0.21036899485625327, "objective_s": 0.005782624939456582, "stage_capture_s": 0.1308535821735859, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007597401970997453, "complete_s": 0.018485782900825143}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001189329195767641, "complete_s": 0.0002568229101598263}}, "total_s": 0.36594027397222817}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685973.8278944, "t_invocation_s": 19.216022957, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05277571501210332, "workspace_s": 0.3000031302217394, "objective_s": 0.006161585915833712, "stage_capture_s": 0.128471135860309, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008001612965017557, "complete_s": 0.018893525004386902}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010199402458965778, "complete_s": 0.00022106897085905075}}, "total_s": 0.4539405591785908}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685973.8331952, "t_invocation_s": 19.221323524, "wave": 2, "members": [4, 5]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685981.9009435, "t_invocation_s": 27.289072132, "wave": 2, "index": 4, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685981.9137995, "t_invocation_s": 27.301927555, "wave": 2, "index": 5, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685981.9417877, "t_invocation_s": 27.329916207, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685981.9698942, "t_invocation_s": 27.358022765, "wave": 2, "commit_order": [4, 5]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685981.9709177, "t_invocation_s": 27.35904561, "wave": 3, "members": [6, 7], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685982.4128575, "t_invocation_s": 27.800985867, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05846765800379217, "workspace_s": 0.22116873413324356, "objective_s": 0.00582253304310143, "stage_capture_s": 0.13120191195048392, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007964924909174442, "complete_s": 0.018849255051463842}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.369011968374252e-05, "complete_s": 0.00020662415772676468}}, "total_s": 0.37741108308546245}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685982.9231572, "t_invocation_s": 28.311285489, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05398210906423628, "workspace_s": 0.2949819350615144, "objective_s": 0.005799156846478581, "stage_capture_s": 0.12575945002026856, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00777085404843092, "complete_s": 0.018670493038371205}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001407198142260313, "complete_s": 0.00026338384486734867}}, "total_s": 0.4456461479421705}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685982.9284961, "t_invocation_s": 28.316624462, "wave": 3, "members": [6, 7]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685991.004083, "t_invocation_s": 36.392211165, "wave": 3, "index": 6, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685991.0175529, "t_invocation_s": 36.405680845, "wave": 3, "index": 7, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685991.0488684, "t_invocation_s": 36.436996795, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685991.077075, "t_invocation_s": 36.465203594, "wave": 3, "commit_order": [6, 7]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685991.0778325, "t_invocation_s": 36.465960544, "wave": 4, "members": [8, 9], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685991.5077338, "t_invocation_s": 36.895862171, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.057881814893335104, "workspace_s": 0.21448030602186918, "objective_s": 0.005761700915172696, "stage_capture_s": 0.12522506806999445, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008908685995265841, "complete_s": 0.01977677596732974}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010020099580287933, "complete_s": 0.00022961595095694065}}, "total_s": 0.3656517940107733}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685992.033001, "t_invocation_s": 37.421129578, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05469380714930594, "workspace_s": 0.3017717378679663, "objective_s": 0.0060897450894117355, "stage_capture_s": 0.13258998398669064, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008345638867467642, "complete_s": 0.0192350170109421}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001102411188185215, "complete_s": 0.0002442209515720606}}, "total_s": 0.46012069494463503}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685992.0382276, "t_invocation_s": 37.426355564, "wave": 4, "members": [8, 9]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791686000.1129408, "t_invocation_s": 45.50106917, "wave": 4, "index": 8, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791686000.1337883, "t_invocation_s": 45.521916418, "wave": 4, "index": 9, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791686000.1613247, "t_invocation_s": 45.549453127, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791686000.1882112, "t_invocation_s": 45.576339824, "wave": 4, "commit_order": [8, 9]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791686000.1889865, "t_invocation_s": 45.577114691, "wave": 5, "members": [10], "occupancy": 1}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791686000.6216164, "t_invocation_s": 46.009744673, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05728441197425127, "workspace_s": 0.2131167110055685, "objective_s": 0.0059546781703829765, "stage_capture_s": 0.13089240179397166, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008091124007478356, "complete_s": 0.01897135004401207}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011714710853993893, "complete_s": 0.000236863037571311}}, "total_s": 0.36933985399082303}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791686000.6268792, "t_invocation_s": 46.015007445, "wave": 5, "members": [10]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791686006.2789612, "t_invocation_s": 51.667089469, "wave": 5, "index": 10, "arrival": 0}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791686006.2841754, "t_invocation_s": 51.672303313, "wave": 5, "drained": {"10": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791686006.3143818, "t_invocation_s": 51.702510343, "wave": 5, "commit_order": [10]}
+{"invocation": 1, "kind": "told", "t_unix_s": 1791686006.3163352, "t_invocation_s": 51.704463244, "generation": 249, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 2748}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/strategy_after_ask.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d7d1b8e58393f184f4fd6316a6187e0f6e9ab74d050bafa84604369a9af61b
+size 31929

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/strategy_after_tell.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f4ccdc7d8d3b813de1350f753f4f0a3933f3c2817bee1387fc0b5548fe38b3
+size 28542

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g249/told.json

@@ -0,0 +1,60 @@
+{
+  "generation": 249,
+  "told_scores": [
+    0.0008532316854286203,
+    0.000853232791952105,
+    0.0008532296579852539,
+    0.0008537057698149492,
+    0.0008532303123768796,
+    0.0008530981961164487,
+    0.0008532305478156059,
+    0.0008530984796861532,
+    0.0008532297940204695,
+    0.0008530962211607439,
+    0.0008531256286105399
+  ],
+  "physical_failures": 0,
+  "physical_failures_total": 0,
+  "issued_asks_total": 2750,
+  "told_asks_total": 2750,
+  "champion": {
+    "generation": 249,
+    "ask_index": 9,
+    "global_ask_index": 2748,
+    "score": 0.0008530962211607439,
+    "observation_score": 0.0004923070377924872,
+    "normalized": [
+      0.4145374123283376,
+      0.999965649689177,
+      0.9982006403079239,
+      0.5071280729870828,
+      0.8636390679221817,
+      0.7224742102231663,
+      0.3509487374873799,
+      0.63571744135177,
+      0.1593626577423345,
+      0.8435955415292765,
+      0.999996876351164,
+      0.9999999747560071
+    ],
+    "settings": {
+      "spring_y": 41453.74123283376,
+      "object_radius_m": 0.04999862598756708,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.045498965109095804,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7224742102231663,
+      "ground_friction": 0.7018974749747598,
+      "object_restitution": 0.63571744135177,
+      "object_friction": 0.318725315484669,
+      "collision_distance_m": 0.043743821661171065,
+      "drag_damping": 19.999937527023278,
+      "dashpot_damping": 199.99999495120142
+    }
+  },
+  "pycma": {
+    "countiter": 250,
+    "countevals": 2750,
+    "sigma": 0.002710659955594438
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/handoff/adam_rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d93299a25d7b22045710c65ba2ce177b0227663dd06b4e5f4b7c011e1bec6bd2
+size 11134986

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/handoff/cma_rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a75e4c198e3d28ba6ec316a93353c9a1a0b1734441604874fe51401523e7560
+size 11134954

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/handoff/frozen_rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411204ede76b4543fc97bb65436cc433395892ae97d9b0fa12de5021bcba2201
+size 11135002

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/handoff/report.json

@@ -0,0 +1,1036 @@
+{
+  "model": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma/winner/model",
+  "model_sha256": "7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb",
+  "origin": {
+    "ask_index": 9,
+    "generation": 249,
+    "global_ask_index": 2748,
+    "normalized": [
+      0.4145374123283376,
+      0.999965649689177,
+      0.9982006403079239,
+      0.5071280729870828,
+      0.8636390679221817,
+      0.7224742102231663,
+      0.3509487374873799,
+      0.63571744135177,
+      0.1593626577423345,
+      0.8435955415292765,
+      0.999996876351164,
+      0.9999999747560071
+    ],
+    "stage": "cma_ask"
+  },
+  "settings_exact": true,
+  "drag_damping": 19.999937527023278,
+  "dashpot_damping": 199.99999495120142,
+  "u_config_integer_cast_not_applied": {
+    "drag_damping": 19,
+    "dashpot_damping": 199
+  },
+  "tolerances": {
+    "position_atol_m": 1e-05,
+    "velocity_atol_mps": 0.001,
+    "component_rtol": 0.0001,
+    "component_atol": 1e-12
+  },
+  "scored": {
+    "stage": "cma",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0008530962211607439,
+    "observation_score": 0.0004923070377924872,
+    "physical_failure": null,
+    "chamfer_group_mean": {
+      "initialized_original": 8.645055369773211e-05,
+      "in_band_not_initialized": 7.351301106635685e-05,
+      "outside_initial_band": 0.0001688763125785489
+    }
+  },
+  "frozen_candidate_0": "handoff/frozen_rollout.npz",
+  "identity": {
+    "verified": true,
+    "model_files": {
+      "model.npz": "7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb",
+      "topology.npz": "bb4dd13bdfaa127174fc8c34d3eb55ef9fd10427a4eac694ca579cba4239efa6",
+      "model_init.npz": "52afd51ea6e81b548921caac77c6ae5d05a0498f86429fc656b4c5f31a483549"
+    },
+    "origin": {
+      "ask_index": 9,
+      "generation": 249,
+      "global_ask_index": 2748,
+      "normalized": [
+        0.4145374123283376,
+        0.999965649689177,
+        0.9982006403079239,
+        0.5071280729870828,
+        0.8636390679221817,
+        0.7224742102231663,
+        0.3509487374873799,
+        0.63571744135177,
+        0.1593626577423345,
+        0.8435955415292765,
+        0.999996876351164,
+        0.9999999747560071
+      ],
+      "stage": "cma_ask"
+    },
+    "bundle": {
+      "sha256": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27",
+      "origin_ns": 1790045828176911549,
+      "num_samples": 492,
+      "chamfer_denominator": 1136,
+      "tracking_denominator": 285,
+      "num_targets": 1258,
+      "num_pairs": 369,
+      "supervision_policy": "initialization_only_mesh_gate_v1",
+      "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+    },
+    "source_inputs": {
+      "tracker": "TAPNext++ 512 raw native tracks",
+      "checkpoint_sha256": [
+        "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f"
+      ],
+      "selected_frames_sha256": "4967cc1abfa33f9b55af0905b6ba71e9f8b8614783f9901752d2f2617abe53c6",
+      "depth_source": "waft_stereo_dav2l5",
+      "views": [
+        {
+          "serial": "12540311",
+          "raw_track_sha256": "0df98e392698c184994e446c1b414767626a8b3fc28cba6a96fd781f2022c87c",
+          "lift_sha256": "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+          "query_sha256": "939b69f34adcade40440383c36cf2d04dbc212e61aeff5b23eefb1ef3638e885",
+          "crop_xyxy": [
+            393,
+            281,
+            1109,
+            997
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "5429f2cd45c93ad2f986e199cd8062f6e4c222943f5cbb5ab7946bbc866419f1"
+        },
+        {
+          "serial": "12933256",
+          "raw_track_sha256": "9084c4269314f7d851eec3339f4420825f272ce777295133cdf7d9d3d97a6a9b",
+          "lift_sha256": "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+          "query_sha256": "b8b613d4c18f5b92e75e4b9e00b427c9bc7486b198ab122cda8be55ab056c9bc",
+          "crop_xyxy": [
+            699,
+            147,
+            1384,
+            832
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "6ad35616256c371682b77f3bb716b6ef73bb465e0cf39406f91167f28630f11d"
+        },
+        {
+          "serial": "17736741",
+          "raw_track_sha256": "fb1ae060afe6ac83f3ab9631894d0dc69863de31c10a0e3ffdbbd6d12a0fa347",
+          "lift_sha256": "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+          "query_sha256": "2982e8fc683dabe024246c350d75c3deeeb1b5d8bd889933b557c6c58a4e938d",
+          "crop_xyxy": [
+            473,
+            141,
+            1231,
+            899
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e"
+        },
+        {
+          "serial": "23007103",
+          "raw_track_sha256": "c7f0788f8d055f27f95f5f5175038dd3c9e9808574c135572cc9531b796f9b85",
+          "lift_sha256": "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479",
+          "query_sha256": "e1732546135de1f703187f1ee3e2e4ab3b7a4c2e80610ad3924f36ba3c9c5cac",
+          "crop_xyxy": [
+            801,
+            161,
+            1607,
+            967
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "ffb5bc058a27d7aa3c9342410533d9532b39a6b2b7eb8326acb942ccd0f4ed4f"
+        }
+      ],
+      "input_inventory_sha256": "414f3f245b80ebca11a4fd7bcb593d2c36555fdd3cb46a17ffe66d4814dba06b",
+      "mask_signoffs": {
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff_occluder.json": "6f12988f44d8db02d1d487e2c641a493354388df4ba638de8daf36dc0ec9d2ff"
+      },
+      "supervision": {
+        "binding_sha256": "fc463d3ff066523351e0d9741846c16f3b25f895d68c7c42f1865db8001f61d5",
+        "science": {
+          "kind": "real_rgbd_rt_supervision_binding_v1",
+          "supervision_policy": "initialization_only_mesh_gate_v1",
+          "temporal_scope": "the mesh gates particle initialization only; every first-derived-valid measured track stays a Chamfer target under non-mesh per-sample validity; no whole-track exclusion, static later-volume gate or per-frame mesh mask",
+          "chamfer_targets": "RT-S1 option B: every object track valid at the first derived sample, before duplicate/voxel selection; each saved (serial, query) once, in source view/query order",
+          "tracking_pairs": "each initialized original's own measured row -> its particle index in [0:N]; duplicate/voxel-mate resolution, proximity and mesh points never create pairs",
+          "motion_validity": "U object motion filter on the complete first-derived-valid measured pool in source visiting order, before any mesh gate or voxel selection; each pair gathers its own row",
+          "initialization": "the saved inclusive initial band (distance_to_solid <= band) decides only which tracks seed particles",
+          "normalization": {
+            "rule": "RT-S2, fixed for the whole run; C/T weights unchanged",
+            "D_C_definition": "sum V[1] over every Chamfer target",
+            "D_C": 1136,
+            "D_T_definition": "sum M[0] over the genuine pairs' own targets",
+            "D_T": 285
+          },
+          "counts": {
+            "P": 1258,
+            "pairs": 369,
+            "N": 369,
+            "S": 724,
+            "A": 729,
+            "controls": {
+              "hand_A": 16,
+              "hand_B": 14
+            },
+            "initialization_groups": {
+              "initialized_original": 369,
+              "in_band_not_initialized": 314,
+              "outside_initial_band": 575
+            }
+          },
+          "initialization_band_m": 0.01,
+          "mechanical_source": {
+            "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/binding.json",
+            "binding_sha256": "cd1bfc61474179ceb6e35eb0197b8e8a426406468f6c942be5f5cccea8771a82",
+            "mesh_rules": {
+              "name": "m2_10mm_centerline_voxels_v3",
+              "initial_band_m": 0.01,
+              "interior": "retained_centerline_core",
+              "core_spacing_m": 0.005
+            },
+            "binding": {
+              "mesh_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/shape_prior.glb",
+              "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+              "library": "trimesh",
+              "library_version": "4.12.0",
+              "trimesh_signed_distance_surface_tolerance_m": 1e-08,
+              "input_units": "meters",
+              "scale_to_m": 1.0,
+              "units": "meters",
+              "scene_instances": [
+                {
+                  "node": "geometry_0",
+                  "geometry": "geometry_0",
+                  "transform": [
+                    [
+                      1.0,
+                      0.0,
+                      0.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      1.0,
+                      0.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      0.0,
+                      1.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      0.0,
+                      0.0,
+                      1.0
+                    ]
+                  ]
+                }
+              ],
+              "frame": "table",
+              "alignment": "none",
+              "vertices": 864,
+              "faces": 1728,
+              "euler_number": 0,
+              "volume_m3": 1.6631369433968857e-05,
+              "bounds_m": [
+                [
+                  -0.0799374207854271,
+                  -0.2566836178302765,
+                  0.01452484168112278
+                ],
+                [
+                  0.09918734431266785,
+                  -0.018659712746739388,
+                  0.030974799767136574
+                ]
+              ],
+              "ground_minimum_z_m": 0.01452484168112278,
+              "manifest_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/manifest.json",
+              "manifest_sha256": "322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277",
+              "geometry_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/geometry.npz",
+              "geometry_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+              "centerline_points": 72
+            },
+            "sampling": {
+              "call_order": [
+                "sample_surface(seed=None)"
+              ],
+              "centerline_length_m": 0.6378165119337573,
+              "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+              "core_arc_spacing_m": 0.004982941499482479,
+              "core_depth_inside_min_max_m": [
+                0.0028392697762003364,
+                0.002848582439780114
+              ],
+              "core_points": 128,
+              "core_start": "centerline vertex 0",
+              "interior_construction": "retained closed-prior centerline candidates; shared voxel competition",
+              "interior_returned": 128,
+              "library": "trimesh",
+              "library_version": "4.12.0",
+              "mesh_rules": {
+                "name": "m2_10mm_centerline_voxels_v3",
+                "initial_band_m": 0.01,
+                "interior": "retained_centerline_core",
+                "core_spacing_m": 0.005
+              },
+              "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+              "numpy_version": "2.4.4",
+              "rng": "numpy.random legacy MT19937",
+              "seed": 42,
+              "surface_requested": 1024,
+              "surface_returned": 1024,
+              "volume_calls": 0,
+              "retained_from": {
+                "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/binding.json",
+                "raw_samples": {
+                  "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/raw_samples.npz",
+                  "sha256": "3be352cbb00659286f2040cc479f0490d7554e4861e2cc4d8f396528815abe45"
+                },
+                "sampling": {
+                  "call_order": [
+                    "sample_surface(seed=None)"
+                  ],
+                  "centerline_length_m": 0.6378165119337573,
+                  "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+                  "core_arc_spacing_m": 0.004982941499482479,
+                  "core_depth_inside_min_max_m": [
+                    0.0028392697762003364,
+                    0.002848582439780114
+                  ],
+                  "core_points": 128,
+                  "core_start": "centerline vertex 0",
+                  "interior_construction": "closed prior centerline, uniform arc spacing; outside the shared voxels",
+                  "interior_returned": 128,
+                  "library": "trimesh",
+                  "library_version": "4.12.0",
+                  "mesh_rules": {
+                    "core_spacing_m": 0.005,
+                    "initial_band_m": 0.01,
+                    "interior": "centerline_core",
+                    "name": "m2_10mm_centerline_core_v2"
+                  },
+                  "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+                  "numpy_version": "2.4.4",
+                  "rng": "numpy.random legacy MT19937",
+                  "seed": 42,
+                  "surface_requested": 1024,
+                  "surface_returned": 1024,
+                  "volume_calls": 0
+                }
+              }
+            },
+            "N": 369,
+            "S": 724,
+            "A": 729,
+            "voxel_origin_m": [
+              -0.08796761453834251,
+              -0.260630781108871,
+              0.005710309135857044
+            ],
+            "controller_reference": "selected [0:S] original union added surface, excluding interior",
+            "products": {
+              "raw_samples": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/raw_samples.npz",
+                "sha256": "4e39da405783dbc0e2bc26e615b66c559d651058e79e09c3705d0ea7c06d7ff7"
+              },
+              "selection": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/selection.npz",
+                "sha256": "84acedd3e08fc90b91a3328a4dab7133113c023877f11cebc5db168eda201574"
+              },
+              "initial_distances": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/initial_distances.npz",
+                "sha256": "0e569b7a0eb2eab0dbaf57a6a65af7c36e42840151a126ca0f6905865208bd01"
+              },
+              "association": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_association.npz",
+                "sha256": "e9559b29afb3eeef40ecce018ef9d7ed3013a62a397537c0002fb227478de8bc"
+              },
+              "controller_gate": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/controller_gate.npz",
+                "sha256": "b7392b93d8f51e2ee77f855d87b6141e90bd292172ab8eb9c1bc20ceac066373"
+              },
+              "fitting_observations": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_observations.npz",
+                "sha256": "1beffa9bf7bbba3db944ec6209d8a1d71c2c0ef039264f948a32603eae8a364e"
+              }
+            }
+          },
+          "measurement_source": {
+            "premesh_fitting_observations": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_observations.npz",
+              "sha256": "900e4e8942c8e9527f37420f3a83a047e317974b9f19fa2f3507422ef81ce99c"
+            },
+            "premesh_association": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_association.npz",
+              "sha256": "161ce8437d479c741609a6b28fc5637ccf3d7674787b85f15d2007085e758e2b"
+            },
+            "native_lifts": [
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12540311.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12933256.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_17736741.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_23007103.npz"
+            ],
+            "native_lift_sha256": [
+              "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+              "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+              "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+              "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479"
+            ]
+          },
+          "maps": {
+            "target_candidate_index": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "713594f78fe2b5733777cf9cbdfac60f882faf988dd46f2035abbd3cebb511f4"
+            },
+            "target_view_index": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "37434248964ddb5b3b2da2f4e78a6c6e9ada5db333bd902b8659005225665bb8"
+            },
+            "target_query_id": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "83fc41c1acd6c46ec508f47e929883b6dd558a3f2377839296e2c1cd95e15611"
+            },
+            "target_initialization": {
+              "shape": [
+                1258
+              ],
+              "dtype": "<U32",
+              "sha256": "1973d3b13a5f7aa2b837632210623754e10b6eaea31351093305d17231231790"
+            },
+            "pair_target_index": {
+              "shape": [
+                369
+              ],
+              "dtype": "int64",
+              "sha256": "ebc33af325dc40fd972f7bcdd96497425b6979424e9126d73b0aec5d7ef7ac2b"
+            },
+            "pair_node_index": {
+              "shape": [
+                369
+              ],
+              "dtype": "int64",
+              "sha256": "5516c8a4fbbe002a0e774015287ce4dd4299fa3e970cd0f08916f9a444c6e70b"
+            },
+            "controller_candidate_index": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "ed1e9e8a166db27b6bb70887dfe43a7b28467e7570e3f5b7039dfc786d64bb1e"
+            },
+            "controller_hand_id": {
+              "shape": [
+                30
+              ],
+              "dtype": "<U6",
+              "sha256": "6ea721bee75745ec9fc29a4f33d3a25e6eb9843dc9fb99e923c2c09c3e41931a"
+            },
+            "controller_view_index": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "82cc70636eb1e1e562f67d2fc58dcd8ddcbfa8813d6bb33eca300a0b594b474c"
+            },
+            "controller_query_id": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "d063ebb57facec0e757d667f885c9ebc112dcea40eeb4d8f2cba64f851ffc237"
+            }
+          },
+          "native_model": "pending the RT4-SUPERVISION initialization writer: originals from each pair's own first measured sample; additions, controls and center topology reused from the mechanical source"
+        },
+        "products": {
+          "association": "595c282b1e946ab4f5c2702fbb55d8e7c59a890aec6ebcdb5204a517d0528a6b",
+          "fitting_observations": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27"
+        }
+      }
+    },
+    "configuration": {
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "gravity_mps2": [
+        0.0,
+        0.0,
+        -9.8
+      ],
+      "ground_height_m": 0.0,
+      "controller_constitutive_velocity": "zero (U real-data convention)",
+      "object_collision": "inactive: source real self_collision=False and no object masks; object restitution, friction and collision distance are carried, not consumed",
+      "settings": {
+        "spring_y": 41453.74123283376,
+        "object_radius_m": 0.04999862598756708,
+        "object_max_neighbours": 49,
+        "controller_radius_m": 0.045498965109095804,
+        "controller_max_neighbours": 70,
+        "ground_restitution": 0.7224742102231663,
+        "ground_friction": 0.7018974749747598,
+        "object_restitution": 0.63571744135177,
+        "object_friction": 0.318725315484669,
+        "collision_distance_m": 0.043743821661171065,
+        "drag_damping": 19.999937527023278,
+        "dashpot_damping": 199.99999495120142
+      },
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167",
+        "policy": "initialization_only_mesh_gate_v1",
+        "node_target_index": [
+          1154,
+          1166,
+          1173,
+          1220,
+          993,
+          1196,
+          969,
+          1212,
+          1084,
+          1008,
+          984,
+          1060,
+          1071,
+          1138,
+          1204,
+          1042,
+          701,
+          474,
+          1076,
+          930,
+          654,
+          1105,
+          1140,
+          1089,
+          5,
+          228,
+          738,
+          271,
+          780,
+          714,
+          803,
+          782,
+          1124,
+          314,
+          1180,
+          833,
+          915,
+          159,
+          1139,
+          1235,
+          964,
+          896,
+          608,
+          784,
+          951,
+          69,
+          163,
+          686,
+          481,
+          1058,
+          498,
+          488,
+          582,
+          499,
+          363,
+          447,
+          186,
+          377,
+          960,
+          384,
+          1143,
+          668,
+          61,
+          7,
+          439,
+          115,
+          391,
+          412,
+          369,
+          423,
+          508,
+          941,
+          396,
+          358,
+          491,
+          521,
+          1142,
+          502,
+          407,
+          1203,
+          1014,
+          364,
+          427,
+          689,
+          522,
+          450,
+          53,
+          559,
+          1044,
+          413,
+          138,
+          383,
+          1202,
+          483,
+          589,
+          804,
+          335,
+          561,
+          54,
+          746,
+          512,
+          554,
+          1247,
+          402,
+          1251,
+          615,
+          331,
+          461,
+          81,
+          507,
+          476,
+          695,
+          581,
+          408,
+          207,
+          698,
+          15,
+          928,
+          440,
+          454,
+          877,
+          143,
+          822,
+          834,
+          234,
+          577,
+          1073,
+          1025,
+          459,
+          404,
+          733,
+          574,
+          290,
+          641,
+          484,
+          552,
+          37,
+          487,
+          575,
+          555,
+          0,
+          904,
+          807,
+          311,
+          530,
+          1068,
+          937,
+          178,
+          1244,
+          705,
+          68,
+          416,
+          216,
+          1165,
+          906,
+          291,
+          724,
+          544,
+          34,
+          468,
+          835,
+          644,
+          206,
+          426,
+          556,
+          451,
+          819,
+          1224,
+          533,
+          515,
+          1228,
+          3,
+          1108,
+          631,
+          902,
+          471,
+          473,
+          568,
+          968,
+          972,
+          580,
+          50,
+          154,
+          87,
+          221,
+          543,
+          351,
+          1170,
+          410,
+          150,
+          480,
+          1075,
+          334,
+          444,
+          382,
+          496,
+          83,
+          374,
+          1091,
+          30,
+          540,
+          1193,
+          1254,
+          442,
+          434,
+          1054,
+          276,
+          1187,
+          490,
+          106,
+          1201,
+          226,
+          111,
+          774,
+          719,
+          256,
+          736,
+          149,
+          86,
+          180,
+          666,
+          637,
+          684,
+          1141,
+          647,
+          140,
+          1214,
+          924,
+          781,
+          1136,
+          1045,
+          321,
+          112,
+          1066,
+          338,
+          1250,
+          953,
+          1177,
+          275,
+          1079,
+          997,
+          1137,
+          297,
+          1117,
+          414,
+          238,
+          270,
+          677,
+          244,
+          317,
+          598,
+          919,
+          528,
+          938,
+          1114,
+          912,
+          169,
+          457,
+          361,
+          1002,
+          1003,
+          961,
+          977,
+          985,
+          1221,
+          1179,
+          97,
+          362,
+          67,
+          437,
+          1098,
+          1237,
+          1074,
+          44,
+          988,
+          1227,
+          1107,
+          116,
+          1029,
+          913,
+          1130,
+          743,
+          704,
+          137,
+          996,
+          583,
+          1246,
+          443,
+          1233,
+          1080,
+          565,
+          475,
+          880,
+          43,
+          773,
+          190,
+          233,
+          656,
+          353,
+          25,
+          202,
+          251,
+          824,
+          21,
+          117,
+          597,
+          309,
+          17,
+          717,
+          195,
+          205,
+          429,
+          663,
+          308,
+          242,
+          247,
+          71,
+          365,
+          764,
+          199,
+          506,
+          108,
+          464,
+          224,
+          142,
+          133,
+          344,
+          456,
+          292,
+          90,
+          536,
+          236,
+          171,
+          105,
+          303,
+          147,
+          269,
+          103,
+          348,
+          327,
+          128,
+          198,
+          285,
+          10,
+          411,
+          120,
+          76,
+          405,
+          129,
+          127,
+          316,
+          51,
+          36,
+          325,
+          357,
+          307,
+          181,
+          4,
+          305,
+          517,
+          584,
+          513,
+          398,
+          494,
+          388,
+          500,
+          460,
+          523,
+          482
+        ]
+      }
+    },
+    "scored_rollout_sha256": "a08459674aaf67754f6e45f73e9639d36381a0aeece42ce336a8328e668cc6b2"
+  },
+  "transaction": {
+    "completed_finite": true,
+    "transition": {
+      "forward_reduction": "atomic",
+      "backward_reduction": "atomic",
+      "capture": true
+    },
+    "device": "cuda:0",
+    "stages": [
+      "frozen",
+      "cma",
+      "adam"
+    ],
+    "rollout_sha256": {
+      "frozen": "411204ede76b4543fc97bb65436cc433395892ae97d9b0fa12de5021bcba2201",
+      "cma": "6a75e4c198e3d28ba6ec316a93353c9a1a0b1734441604874fe51401523e7560",
+      "adam": "d93299a25d7b22045710c65ba2ce177b0227663dd06b4e5f4b7c011e1bec6bd2"
+    }
+  },
+  "acceptance": {
+    "policy": "rt_atomic_single_realization_v1",
+    "owner_basis": "RT-D10 owner decision 2026-09-29; phystwin_real_rgbd_waft_tapnextpp_refit_plan \u00a77.4",
+    "accepted": true
+  },
+  "frozen": {
+    "stage": "frozen",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0004923070573086505,
+    "observation_score": 0.0004923070573086505,
+    "physical_failure": null,
+    "chamfer_group_mean": {
+      "initialized_original": 8.645055204545254e-05,
+      "in_band_not_initialized": 7.351301076350069e-05,
+      "outside_initial_band": 0.00016887631394556945
+    },
+    "bitwise": {
+      "chamfer": false,
+      "tracking": false,
+      "observation_total": false,
+      "positions_m": false,
+      "velocities_mps": false
+    },
+    "max_abs_diff": {
+      "chamfer": 1.2223608791828156e-09,
+      "tracking": 4.0745362639427185e-10,
+      "observation_total": 1.280568540096283e-09,
+      "positions_m": 9.387731552124023e-07,
+      "velocities_mps": 0.005195550620555878
+    },
+    "within_tolerance": {
+      "chamfer": true,
+      "tracking": true,
+      "observation_total": true,
+      "positions_m": true,
+      "velocities_mps": false
+    },
+    "acceleration_all_zero": true,
+    "observation_score_diff": 1.9516163316489477e-11
+  },
+  "cma": {
+    "stage": "cma",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0008530960527319573,
+    "observation_score": 0.0004923070508032627,
+    "physical_failure": null,
+    "chamfer_group_mean": {
+      "initialized_original": 8.645055171851605e-05,
+      "in_band_not_initialized": 7.35130135049511e-05,
+      "outside_initial_band": 0.00016887632112891048
+    },
+    "bitwise": {
+      "chamfer": false,
+      "tracking": false,
+      "acceleration": false,
+      "total": false,
+      "positions_m": false,
+      "velocities_mps": false
+    },
+    "max_abs_diff": {
+      "chamfer": 1.7462298274040222e-09,
+      "tracking": 2.9103830456733704e-10,
+      "acceleration": 1.257285475730896e-08,
+      "total": 1.234002411365509e-08,
+      "positions_m": 4.023313522338867e-07,
+      "velocities_mps": 0.00217311829328537
+    },
+    "within_tolerance": {
+      "chamfer": true,
+      "tracking": true,
+      "acceleration": false,
+      "total": true,
+      "positions_m": true,
+      "velocities_mps": false
+    },
+    "score_diff": -1.6842878665119382e-10,
+    "score_within_tolerance": true
+  },
+  "adam": {
+    "stage": "adam",
+    "completed_transitions": 491,
+    "num_transitions": 491,
+    "score": 0.0004923070677261621,
+    "observation_score": 0.0004923070677261621,
+    "physical_failure": null,
+    "chamfer_group_mean": {
+      "initialized_original": 8.64505552638783e-05,
+      "in_band_not_initialized": 7.351301306224391e-05,
+      "outside_initial_band": 0.00016887632487802917
+    },
+    "bitwise": {
+      "chamfer": false,
+      "tracking": false,
+      "observation_total": false,
+      "positions_m": false,
+      "velocities_mps": false
+    },
+    "max_abs_diff": {
+      "chamfer": 1.3969838619232178e-09,
+      "tracking": 4.656612873077393e-10,
+      "observation_total": 1.6298145055770874e-09,
+      "positions_m": 1.4901161193847656e-07,
+      "velocities_mps": 0.0006330609321594238
+    },
+    "within_tolerance": {
+      "chamfer": true,
+      "tracking": true,
+      "observation_total": true,
+      "positions_m": true,
+      "velocities_mps": true
+    },
+    "acceleration_all_zero": true,
+    "observation_score_diff": 2.993367489642629e-11
+  },
+  "passed": false,
+  "numerical_status": "finite_independent_realization_disagreement"
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/manifest.json

@@ -0,0 +1,607 @@
+{
+  "schema": "real_rgbd_source_cma_run_v1",
+  "plan": "docs/plans/phystwin_real_rgbd_single_trajectory_plan.md R5, \u00a76.3",
+  "fitting_observations": {
+    "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+    "sha256": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27",
+    "origin_ns": 1790045828176911549,
+    "num_samples": 492,
+    "chamfer_denominator": 1136,
+    "tracking_denominator": 285,
+    "num_targets": 1258,
+    "num_pairs": 369,
+    "supervision_policy": "initialization_only_mesh_gate_v1",
+    "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+  },
+  "populations": {
+    "N": 369,
+    "S": 724,
+    "A": 729,
+    "C": 30,
+    "P": 1258,
+    "pairs": 369
+  },
+  "grid": {
+    "F": 492,
+    "K": 491,
+    "origin_ns": 1790045828176911549
+  },
+  "clock": {
+    "period_s": "1/30",
+    "num_substeps": 667,
+    "substep_dt_s": 4.9975012493753125e-05,
+    "consumed_substep_dt_f32": 4.997501309844665e-05,
+    "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+    "transitions": 491,
+    "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+    "source_literal_period_s_not_used": 0.033350000000000005
+  },
+  "protocol": {
+    "source": "U cma_optimize_warp.py optimize/error_func @81c71879; configs/real.yaml",
+    "dimension": 12,
+    "bounds": [
+      0.0,
+      1.0
+    ],
+    "coordinates": [
+      [
+        "spring_y",
+        [
+          0,
+          100000.0
+        ]
+      ],
+      [
+        "object_radius_m",
+        [
+          0.01,
+          0.05
+        ]
+      ],
+      [
+        "object_max_neighbours",
+        [
+          10,
+          50
+        ]
+      ],
+      [
+        "controller_radius_m",
+        [
+          0.01,
+          0.08
+        ]
+      ],
+      [
+        "controller_max_neighbours",
+        [
+          10,
+          80
+        ]
+      ],
+      [
+        "ground_restitution",
+        "direct"
+      ],
+      [
+        "ground_friction",
+        [
+          0,
+          2
+        ]
+      ],
+      [
+        "object_restitution",
+        "direct"
+      ],
+      [
+        "object_friction",
+        [
+          0,
+          2
+        ]
+      ],
+      [
+        "collision_distance_m",
+        [
+          0.01,
+          0.05
+        ]
+      ],
+      [
+        "drag_damping",
+        [
+          0,
+          20
+        ]
+      ],
+      [
+        "dashpot_damping",
+        [
+          0,
+          200
+        ]
+      ]
+    ],
+    "center": [
+      0.3,
+      0.25,
+      0.5,
+      0.4285714285714285,
+      0.5714285714285714,
+      0.5,
+      0.15,
+      0.7,
+      0.15,
+      0.25,
+      0.15,
+      0.5
+    ],
+    "sigma": 0.16666666666666666,
+    "seed": 42,
+    "population_size": "popsize omitted: pinned pycma dimension default (as U); resolved value in manifest strategy",
+    "sampler": "private numpy RandomState(42).randn (parity with U's globally seeded default)",
+    "backend": "pycma_4_4_4_serial_ask_tell_v1",
+    "max_generations": 250,
+    "stopping": "es.stop() at every loop head, honoured after the first generation; else max_generations",
+    "score": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))",
+    "told_failures": "+inf only for a physical nonfinite dynamics endpoint; other errors stop the run",
+    "object_collision": "inactive (self_collision=False, no object masks); its three coordinates have no effect"
+  },
+  "handoff_policy": "rt_atomic_single_realization_v1",
+  "execution": {
+    "device": "cuda:0",
+    "transition": {
+      "forward_reduction": "atomic",
+      "backward_reduction": "atomic",
+      "capture": true
+    },
+    "objective": "R4 SourceWarpObjective stage cma (captured on CUDA, eager on CPU)",
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "render_width": null,
+      "packing": "none",
+      "launch": "one host thread; value-only enqueue before readbacks; lockstep transitions",
+      "warm_launch": "D3: one public wp.capture_launch per captured graph during preparation"
+    }
+  },
+  "supervision": {
+    "P": 1258,
+    "pairs": 369,
+    "D_C": 1136,
+    "D_T": 285,
+    "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167",
+    "policy": "initialization_only_mesh_gate_v1",
+    "objective": "C over P targets -> surface [0:S] / D_C; T over genuine pairs / (3 D_T); A over all A / (3 A), weight 0.01, first transition off"
+  },
+  "source_inputs": {
+    "tracker": "TAPNext++ 512 raw native tracks",
+    "checkpoint_sha256": [
+      "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f"
+    ],
+    "selected_frames_sha256": "4967cc1abfa33f9b55af0905b6ba71e9f8b8614783f9901752d2f2617abe53c6",
+    "depth_source": "waft_stereo_dav2l5",
+    "views": [
+      {
+        "serial": "12540311",
+        "raw_track_sha256": "0df98e392698c184994e446c1b414767626a8b3fc28cba6a96fd781f2022c87c",
+        "lift_sha256": "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+        "query_sha256": "939b69f34adcade40440383c36cf2d04dbc212e61aeff5b23eefb1ef3638e885",
+        "crop_xyxy": [
+          393,
+          281,
+          1109,
+          997
+        ],
+        "visibility_rule": "raw TAPNext++ visibility logit > 0",
+        "validity_policy": "RT D7 selected native support",
+        "depth_file_sha256": "5429f2cd45c93ad2f986e199cd8062f6e4c222943f5cbb5ab7946bbc866419f1"
+      },
+      {
+        "serial": "12933256",
+        "raw_track_sha256": "9084c4269314f7d851eec3339f4420825f272ce777295133cdf7d9d3d97a6a9b",
+        "lift_sha256": "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+        "query_sha256": "b8b613d4c18f5b92e75e4b9e00b427c9bc7486b198ab122cda8be55ab056c9bc",
+        "crop_xyxy": [
+          699,
+          147,
+          1384,
+          832
+        ],
+        "visibility_rule": "raw TAPNext++ visibility logit > 0",
+        "validity_policy": "RT D7 selected native support",
+        "depth_file_sha256": "6ad35616256c371682b77f3bb716b6ef73bb465e0cf39406f91167f28630f11d"
+      },
+      {
+        "serial": "17736741",
+        "raw_track_sha256": "fb1ae060afe6ac83f3ab9631894d0dc69863de31c10a0e3ffdbbd6d12a0fa347",
+        "lift_sha256": "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+        "query_sha256": "2982e8fc683dabe024246c350d75c3deeeb1b5d8bd889933b557c6c58a4e938d",
+        "crop_xyxy": [
+          473,
+          141,
+          1231,
+          899
+        ],
+        "visibility_rule": "raw TAPNext++ visibility logit > 0",
+        "validity_policy": "RT D7 selected native support",
+        "depth_file_sha256": "ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e"
+      },
+      {
+        "serial": "23007103",
+        "raw_track_sha256": "c7f0788f8d055f27f95f5f5175038dd3c9e9808574c135572cc9531b796f9b85",
+        "lift_sha256": "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479",
+        "query_sha256": "e1732546135de1f703187f1ee3e2e4ab3b7a4c2e80610ad3924f36ba3c9c5cac",
+        "crop_xyxy": [
+          801,
+          161,
+          1607,
+          967
+        ],
+        "visibility_rule": "raw TAPNext++ visibility logit > 0",
+        "validity_policy": "RT D7 selected native support",
+        "depth_file_sha256": "ffb5bc058a27d7aa3c9342410533d9532b39a6b2b7eb8326acb942ccd0f4ed4f"
+      }
+    ],
+    "input_inventory_sha256": "414f3f245b80ebca11a4fd7bcb593d2c36555fdd3cb46a17ffe66d4814dba06b",
+    "mask_signoffs": {
+      "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e",
+      "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff_occluder.json": "6f12988f44d8db02d1d487e2c641a493354388df4ba638de8daf36dc0ec9d2ff"
+    },
+    "supervision": {
+      "binding_sha256": "fc463d3ff066523351e0d9741846c16f3b25f895d68c7c42f1865db8001f61d5",
+      "science": {
+        "kind": "real_rgbd_rt_supervision_binding_v1",
+        "supervision_policy": "initialization_only_mesh_gate_v1",
+        "temporal_scope": "the mesh gates particle initialization only; every first-derived-valid measured track stays a Chamfer target under non-mesh per-sample validity; no whole-track exclusion, static later-volume gate or per-frame mesh mask",
+        "chamfer_targets": "RT-S1 option B: every object track valid at the first derived sample, before duplicate/voxel selection; each saved (serial, query) once, in source view/query order",
+        "tracking_pairs": "each initialized original's own measured row -> its particle index in [0:N]; duplicate/voxel-mate resolution, proximity and mesh points never create pairs",
+        "motion_validity": "U object motion filter on the complete first-derived-valid measured pool in source visiting order, before any mesh gate or voxel selection; each pair gathers its own row",
+        "initialization": "the saved inclusive initial band (distance_to_solid <= band) decides only which tracks seed particles",
+        "normalization": {
+          "rule": "RT-S2, fixed for the whole run; C/T weights unchanged",
+          "D_C_definition": "sum V[1] over every Chamfer target",
+          "D_C": 1136,
+          "D_T_definition": "sum M[0] over the genuine pairs' own targets",
+          "D_T": 285
+        },
+        "counts": {
+          "P": 1258,
+          "pairs": 369,
+          "N": 369,
+          "S": 724,
+          "A": 729,
+          "controls": {
+            "hand_A": 16,
+            "hand_B": 14
+          },
+          "initialization_groups": {
+            "initialized_original": 369,
+            "in_band_not_initialized": 314,
+            "outside_initial_band": 575
+          }
+        },
+        "initialization_band_m": 0.01,
+        "mechanical_source": {
+          "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/binding.json",
+          "binding_sha256": "cd1bfc61474179ceb6e35eb0197b8e8a426406468f6c942be5f5cccea8771a82",
+          "mesh_rules": {
+            "name": "m2_10mm_centerline_voxels_v3",
+            "initial_band_m": 0.01,
+            "interior": "retained_centerline_core",
+            "core_spacing_m": 0.005
+          },
+          "binding": {
+            "mesh_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/shape_prior.glb",
+            "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+            "library": "trimesh",
+            "library_version": "4.12.0",
+            "trimesh_signed_distance_surface_tolerance_m": 1e-08,
+            "input_units": "meters",
+            "scale_to_m": 1.0,
+            "units": "meters",
+            "scene_instances": [
+              {
+                "node": "geometry_0",
+                "geometry": "geometry_0",
+                "transform": [
+                  [
+                    1.0,
+                    0.0,
+                    0.0,
+                    0.0
+                  ],
+                  [
+                    0.0,
+                    1.0,
+                    0.0,
+                    0.0
+                  ],
+                  [
+                    0.0,
+                    0.0,
+                    1.0,
+                    0.0
+                  ],
+                  [
+                    0.0,
+                    0.0,
+                    0.0,
+                    1.0
+                  ]
+                ]
+              }
+            ],
+            "frame": "table",
+            "alignment": "none",
+            "vertices": 864,
+            "faces": 1728,
+            "euler_number": 0,
+            "volume_m3": 1.6631369433968857e-05,
+            "bounds_m": [
+              [
+                -0.0799374207854271,
+                -0.2566836178302765,
+                0.01452484168112278
+              ],
+              [
+                0.09918734431266785,
+                -0.018659712746739388,
+                0.030974799767136574
+              ]
+            ],
+            "ground_minimum_z_m": 0.01452484168112278,
+            "manifest_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/manifest.json",
+            "manifest_sha256": "322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277",
+            "geometry_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/geometry.npz",
+            "geometry_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+            "centerline_points": 72
+          },
+          "sampling": {
+            "call_order": [
+              "sample_surface(seed=None)"
+            ],
+            "centerline_length_m": 0.6378165119337573,
+            "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+            "core_arc_spacing_m": 0.004982941499482479,
+            "core_depth_inside_min_max_m": [
+              0.0028392697762003364,
+              0.002848582439780114
+            ],
+            "core_points": 128,
+            "core_start": "centerline vertex 0",
+            "interior_construction": "retained closed-prior centerline candidates; shared voxel competition",
+            "interior_returned": 128,
+            "library": "trimesh",
+            "library_version": "4.12.0",
+            "mesh_rules": {
+              "name": "m2_10mm_centerline_voxels_v3",
+              "initial_band_m": 0.01,
+              "interior": "retained_centerline_core",
+              "core_spacing_m": 0.005
+            },
+            "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+            "numpy_version": "2.4.4",
+            "rng": "numpy.random legacy MT19937",
+            "seed": 42,
+            "surface_requested": 1024,
+            "surface_returned": 1024,
+            "volume_calls": 0,
+            "retained_from": {
+              "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/binding.json",
+              "raw_samples": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/raw_samples.npz",
+                "sha256": "3be352cbb00659286f2040cc479f0490d7554e4861e2cc4d8f396528815abe45"
+              },
+              "sampling": {
+                "call_order": [
+                  "sample_surface(seed=None)"
+                ],
+                "centerline_length_m": 0.6378165119337573,
+                "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+                "core_arc_spacing_m": 0.004982941499482479,
+                "core_depth_inside_min_max_m": [
+                  0.0028392697762003364,
+                  0.002848582439780114
+                ],
+                "core_points": 128,
+                "core_start": "centerline vertex 0",
+                "interior_construction": "closed prior centerline, uniform arc spacing; outside the shared voxels",
+                "interior_returned": 128,
+                "library": "trimesh",
+                "library_version": "4.12.0",
+                "mesh_rules": {
+                  "core_spacing_m": 0.005,
+                  "initial_band_m": 0.01,
+                  "interior": "centerline_core",
+                  "name": "m2_10mm_centerline_core_v2"
+                },
+                "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+                "numpy_version": "2.4.4",
+                "rng": "numpy.random legacy MT19937",
+                "seed": 42,
+                "surface_requested": 1024,
+                "surface_returned": 1024,
+                "volume_calls": 0
+              }
+            }
+          },
+          "N": 369,
+          "S": 724,
+          "A": 729,
+          "voxel_origin_m": [
+            -0.08796761453834251,
+            -0.260630781108871,
+            0.005710309135857044
+          ],
+          "controller_reference": "selected [0:S] original union added surface, excluding interior",
+          "products": {
+            "raw_samples": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/raw_samples.npz",
+              "sha256": "4e39da405783dbc0e2bc26e615b66c559d651058e79e09c3705d0ea7c06d7ff7"
+            },
+            "selection": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/selection.npz",
+              "sha256": "84acedd3e08fc90b91a3328a4dab7133113c023877f11cebc5db168eda201574"
+            },
+            "initial_distances": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/initial_distances.npz",
+              "sha256": "0e569b7a0eb2eab0dbaf57a6a65af7c36e42840151a126ca0f6905865208bd01"
+            },
+            "association": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_association.npz",
+              "sha256": "e9559b29afb3eeef40ecce018ef9d7ed3013a62a397537c0002fb227478de8bc"
+            },
+            "controller_gate": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/controller_gate.npz",
+              "sha256": "b7392b93d8f51e2ee77f855d87b6141e90bd292172ab8eb9c1bc20ceac066373"
+            },
+            "fitting_observations": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_observations.npz",
+              "sha256": "1beffa9bf7bbba3db944ec6209d8a1d71c2c0ef039264f948a32603eae8a364e"
+            }
+          }
+        },
+        "measurement_source": {
+          "premesh_fitting_observations": {
+            "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_observations.npz",
+            "sha256": "900e4e8942c8e9527f37420f3a83a047e317974b9f19fa2f3507422ef81ce99c"
+          },
+          "premesh_association": {
+            "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_association.npz",
+            "sha256": "161ce8437d479c741609a6b28fc5637ccf3d7674787b85f15d2007085e758e2b"
+          },
+          "native_lifts": [
+            "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12540311.npz",
+            "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12933256.npz",
+            "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_17736741.npz",
+            "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_23007103.npz"
+          ],
+          "native_lift_sha256": [
+            "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+            "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+            "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+            "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479"
+          ]
+        },
+        "maps": {
+          "target_candidate_index": {
+            "shape": [
+              1258
+            ],
+            "dtype": "int64",
+            "sha256": "713594f78fe2b5733777cf9cbdfac60f882faf988dd46f2035abbd3cebb511f4"
+          },
+          "target_view_index": {
+            "shape": [
+              1258
+            ],
+            "dtype": "int64",
+            "sha256": "37434248964ddb5b3b2da2f4e78a6c6e9ada5db333bd902b8659005225665bb8"
+          },
+          "target_query_id": {
+            "shape": [
+              1258
+            ],
+            "dtype": "int64",
+            "sha256": "83fc41c1acd6c46ec508f47e929883b6dd558a3f2377839296e2c1cd95e15611"
+          },
+          "target_initialization": {
+            "shape": [
+              1258
+            ],
+            "dtype": "<U32",
+            "sha256": "1973d3b13a5f7aa2b837632210623754e10b6eaea31351093305d17231231790"
+          },
+          "pair_target_index": {
+            "shape": [
+              369
+            ],
+            "dtype": "int64",
+            "sha256": "ebc33af325dc40fd972f7bcdd96497425b6979424e9126d73b0aec5d7ef7ac2b"
+          },
+          "pair_node_index": {
+            "shape": [
+              369
+            ],
+            "dtype": "int64",
+            "sha256": "5516c8a4fbbe002a0e774015287ce4dd4299fa3e970cd0f08916f9a444c6e70b"
+          },
+          "controller_candidate_index": {
+            "shape": [
+              30
+            ],
+            "dtype": "int64",
+            "sha256": "ed1e9e8a166db27b6bb70887dfe43a7b28467e7570e3f5b7039dfc786d64bb1e"
+          },
+          "controller_hand_id": {
+            "shape": [
+              30
+            ],
+            "dtype": "<U6",
+            "sha256": "6ea721bee75745ec9fc29a4f33d3a25e6eb9843dc9fb99e923c2c09c3e41931a"
+          },
+          "controller_view_index": {
+            "shape": [
+              30
+            ],
+            "dtype": "int64",
+            "sha256": "82cc70636eb1e1e562f67d2fc58dcd8ddcbfa8813d6bb33eca300a0b594b474c"
+          },
+          "controller_query_id": {
+            "shape": [
+              30
+            ],
+            "dtype": "int64",
+            "sha256": "d063ebb57facec0e757d667f885c9ebc112dcea40eeb4d8f2cba64f851ffc237"
+          }
+        },
+        "native_model": "pending the RT4-SUPERVISION initialization writer: originals from each pair's own first measured sample; additions, controls and center topology reused from the mechanical source"
+      },
+      "products": {
+        "association": "595c282b1e946ab4f5c2702fbb55d8e7c59a890aec6ebcdb5204a517d0528a6b",
+        "fitting_observations": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27"
+      }
+    }
+  },
+  "strategy": {
+    "backend_id": "pycma_4_4_4_serial_ask_tell_v1",
+    "package_version": "4.4.4",
+    "dimension": 12,
+    "population_size": 11,
+    "population_size_source": "pycma_default",
+    "resolved_mu": 5,
+    "seed": 42,
+    "initial_sigma": 0.16666666666666666,
+    "creation_options": {
+      "bounds": [
+        0.0,
+        1.0
+      ],
+      "seed": 42,
+      "randn": "numpy.random.RandomState.randn"
+    }
+  },
+  "execution_identity": {
+    "belt_perception_source": {
+      "sha256": "39d21159849a1ed85a9afff6cf85f639647e8088f5b722b3e9f15aededa1e6ef",
+      "files": 873
+    },
+    "versions": {
+      "warp-lang": "1.16.0",
+      "torch": "2.11.0+cu128",
+      "cma": "4.4.4",
+      "numpy": "2.4.4",
+      "open3d": "0.19.0"
+    },
+    "python": "3.11.14",
+    "torch_cuda": "12.8",
+    "device_name": "NVIDIA GeForce RTX 4090"
+  },
+  "code_revision": {
+    "head": "2b53aa2040ed159d13894732a7eb6e56e530bfe0",
+    "dirty": false
+  },
+  "handoff_report_sha256": "1ab672747fecf9dc94f763f552f48fb5691964fed72834971aaa3ee4e8ee560b"
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/model_init.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52afd51ea6e81b548921caac77c6ae5d05a0498f86429fc656b4c5f31a483549
+size 291136

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/result.json

@@ -0,0 +1,88 @@
+{
+  "status": "winner",
+  "stop_reason": "max_generations",
+  "native_stop": {},
+  "max_generations": 250,
+  "completed_generations": 250,
+  "issued_asks": 2750,
+  "told_asks": 2750,
+  "physical_failures": 0,
+  "center_evaluations": 1,
+  "center": {
+    "score": 0.0021917498159571315,
+    "observation_score": 0.0010494868155734097,
+    "physical_failure": null
+  },
+  "champion": {
+    "generation": 249,
+    "ask_index": 9,
+    "global_ask_index": 2748,
+    "score": 0.0008530962211607439,
+    "observation_score": 0.0004923070377924872,
+    "normalized": [
+      0.4145374123283376,
+      0.999965649689177,
+      0.9982006403079239,
+      0.5071280729870828,
+      0.8636390679221817,
+      0.7224742102231663,
+      0.3509487374873799,
+      0.63571744135177,
+      0.1593626577423345,
+      0.8435955415292765,
+      0.999996876351164,
+      0.9999999747560071
+    ],
+    "settings": {
+      "spring_y": 41453.74123283376,
+      "object_radius_m": 0.04999862598756708,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.045498965109095804,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7224742102231663,
+      "ground_friction": 0.7018974749747598,
+      "object_restitution": 0.63571744135177,
+      "object_friction": 0.318725315484669,
+      "collision_distance_m": 0.043743821661171065,
+      "drag_damping": 19.999937527023278,
+      "dashpot_damping": 199.99999495120142
+    }
+  },
+  "pycma": {
+    "countiter": 250,
+    "countevals": 2750,
+    "sigma": 0.002710659955594438,
+    "xbest": [
+      0.4145374123283376,
+      0.999965649689177,
+      0.9982006403079239,
+      0.5071280729870828,
+      0.8636390679221817,
+      0.7224742102231663,
+      0.3509487374873799,
+      0.63571744135177,
+      0.1593626577423345,
+      0.8435955415292765,
+      0.999996876351164,
+      0.9999999747560071
+    ],
+    "fbest": 0.0008530962211607439,
+    "xbest_is_champion": true
+  },
+  "winner": {
+    "model": "winner/model",
+    "scored_rollout": "winner/rollout.npz",
+    "model_sha256": "7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb"
+  },
+  "handoff": {
+    "passed": false,
+    "report": "handoff/report.json",
+    "frozen_observation_score": 0.0004923070573086505,
+    "acceptance": {
+      "policy": "rt_atomic_single_realization_v1",
+      "owner_basis": "RT-D10 owner decision 2026-09-29; phystwin_real_rgbd_waft_tapnextpp_refit_plan \u00a77.4",
+      "accepted": true
+    },
+    "numerical_status": "finite_independent_realization_disagreement"
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/winner/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d8ee3c15c57add3deac3cbd70f232176e9691bb64aa169d8dca42deae5d3cdb
+size 88546

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/winner/model/model_init.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52afd51ea6e81b548921caac77c6ae5d05a0498f86429fc656b4c5f31a483549
+size 291136

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/winner/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4dd13bdfaa127174fc8c34d3eb55ef9fd10427a4eac694ca579cba4239efa6
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/winner/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08459674aaf67754f6e45f73e9639d36381a0aeece42ce336a8328e668cc6b2
+size 11136898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/launch_rt5.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+# Task-owned template; run_rt5_campaign.py prepare resolves the three literals.
+set -euo pipefail
+case "${1:-}" in start|resume) mode="$1" ;; *) echo 'Usage: launch_rt5.sh start|resume' >&2; exit 2 ;; esac
+cd /mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010
+full_root=/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01
+export CUDA_VISIBLE_DEVICES=0
+mkdir -p "$full_root/logs"
+# On a GPU exception the driver writes a small CUDA core dump (faulting kernel/PC) and then
+# aborts the child, so the Python error record is not written; resume re-runs missing asks.
+# No host core dump. Exit-time faults have not produced dumps (Xid 31 investigation note).
+export CUDA_ENABLE_COREDUMP_ON_EXCEPTION=1 CUDA_ENABLE_CPU_COREDUMP_ON_EXCEPTION=0
+export CUDA_COREDUMP_GENERATION_FLAGS=skip_global_memory,skip_shared_memory,skip_local_memory
+export CUDA_COREDUMP_FILE="$full_root/logs/cuda_core_%p_%t.nvcudmp"
+exec uv run --no-sync python -u scripts/run_rt5_campaign.py "$mode" \
+  --config "$full_root/campaign.json" \
+  >> "$full_root/logs/supervisor-$mode-$(date -u +%Y%m%dT%H%M%S)-$$.log" 2>&1

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/attempt-001-adam-1.log

@@ -0,0 +1,15 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.44 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.45 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.46 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.36 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.57 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.46 ms  (cached)
+Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 0.74 ms  (cached)
+245500/245500 updates: 500 complete traversals + 0 intervals; 501 snapshots, 500 scored, 1 pending evaluation

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/attempt-001-cma-1.log

@@ -0,0 +1,17 @@
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Sat Oct 10 19:00:24 2026)
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 8.19 ms  (cached)
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.52 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.44 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.30 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.38 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.40 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.55 ms  (cached)
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Sat Oct 10 19:00:30 2026)
+winner: max_generations after 250 generations, 2750 asks told (0 physical +inf); winner score 0.0008530962211607439; handoff {'passed': False, 'report': 'handoff/report.json', 'frozen_observation_score': 0.0004923070573086505, 'acceptance': {'policy': 'rt_atomic_single_realization_v1', 'owner_basis': 'RT-D10 owner decision 2026-09-29; phystwin_real_rgbd_waft_tapnextpp_refit_plan §7.4', 'accepted': True}, 'numerical_status': 'finite_independent_realization_disagreement'}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/attempt-001-collect_final-1.log

@@ -0,0 +1 @@
+Retained 1 new REAL_RGBD records in /mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/telemetry-collector/telemetry

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/attempt-001-evaluator-1.log

@@ -0,0 +1,15 @@
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.0
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/magna/.cache/warp/1.16.0
+Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 1.16 ms  (cached)
+Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 1.79 ms  (cached)
+Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 1.87 ms  (cached)
+Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 1.94 ms  (cached)
+Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 2.15 ms  (cached)
+Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.45 ms  (cached)
+Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.33 ms  (cached)
+evaluated 500 candidates; 501/501 produced scored, pending [], unresolved errors []

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/attempt-001-select-1.log

@@ -0,0 +1,19 @@
+{
+  "status": "final",
+  "best_candidate": 489,
+  "best": {
+    "candidate": 489,
+    "traversal": 489,
+    "updates": 240099,
+    "score": 0.00010285475094816429,
+    "model": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam/snapshots/c0489/model",
+    "rollout": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam/evaluations/c0489/rollout.npz",
+    "trajectory_retained": true,
+    "tied_candidates": [
+      489
+    ]
+  },
+  "completed_candidates": 501,
+  "expected_candidates": 501,
+  "missing_candidates": []
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/logs/supervisor-start-20261010T230015-3400664.log

@@ -0,0 +1,786 @@
+(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Sat Oct 10 19:00:18 2026)
+{
+  "mode": "start",
+  "config": {
+    "cwd": "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010",
+    "revision": "2b53aa2040ed159d13894732a7eb6e56e530bfe0",
+    "python": "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+    "lock_sha256": "673786110b5b79a5a6ecc5e6bf35d11413a342229be69cd028e7ce8bf1841a02",
+    "input_root": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06",
+    "full_root": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01",
+    "device": "cuda:0",
+    "eval_device": "cuda:0",
+    "device_identities": {
+      "cuda:0": {
+        "name": "NVIDIA GeForce RTX 4090",
+        "uuid": "30be4c6b-0cc3-a19f-14c8-b53e90ace6dc",
+        "total_memory": 25215303680
+      }
+    },
+    "cuda_visible_devices": "0",
+    "concurrent_evaluator": true,
+    "candidate_width": 2,
+    "candidate_width_check": "/mnt/data2/magna/belt_perception/results/rt5_runner_preparation_20261001/rt_accel_integrate_20261002/bounded_checks.json",
+    "tracking_coexistence_check": "/mnt/data2/magna/belt_perception/results/rt5_runner_preparation_20261001/rt_accel_integrate_20261002/bounded_checks.json",
+    "execution_owner": "Codex RT-FAITHFUL-TRACK owner",
+    "cp2r_revision": "426a482897e87394e5d9362e4aec71e759945c2a",
+    "cp2r_audit": "docs/experiments/phystwin_cma_candidate_parallelism_cp2r_audit_20261001.md",
+    "runner_audit": "Existing runner/RT-D12 reviews retained; this task adds reviewed refit_06 input pin and original-trajectory retention only. focused_tests.log and input_check.json record affected checks; independent execution review remains later.",
+    "service_preflight": "",
+    "tmux_server": "rt5_refit06_faithful_track_20261010",
+    "tmux_session": "campaign",
+    "run_name": "rt_mesh_refit06_full_fit_cma250_projadam_01",
+    "tracking_input": "refit_06",
+    "cma_max_generations": 250,
+    "projected_log_y": true,
+    "retain_all_trajectories": true,
+    "telemetry_online": false
+  },
+  "candidate_scheduling": {
+    "mode": "resident_waves",
+    "configured_max_width": 2,
+    "render_width": null,
+    "packing": "none",
+    "launch": "one host thread; value-only enqueue before readbacks; lockstep transitions",
+    "warm_launch": "D3: one public wp.capture_launch per captured graph during preparation"
+  },
+  "supervisor": {
+    "pid": 3400672,
+    "pgid": 3400662,
+    "start_ticks": "139791065",
+    "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+  },
+  "science": {
+    "input_hashes": {
+      "fitting/fitting_observations.npz": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27",
+      "fitting/model_init.npz": "52afd51ea6e81b548921caac77c6ae5d05a0498f86429fc656b4c5f31a483549",
+      "inputs/binding.json": "fc463d3ff066523351e0d9741846c16f3b25f895d68c7c42f1865db8001f61d5"
+    },
+    "bundle": {
+      "sha256": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27",
+      "origin_ns": 1790045828176911549,
+      "num_samples": 492,
+      "chamfer_denominator": 1136,
+      "tracking_denominator": 285,
+      "num_targets": 1258,
+      "num_pairs": 369,
+      "supervision_policy": "initialization_only_mesh_gate_v1",
+      "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+    },
+    "source_inputs": {
+      "tracker": "TAPNext++ 512 raw native tracks",
+      "checkpoint_sha256": [
+        "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f"
+      ],
+      "selected_frames_sha256": "4967cc1abfa33f9b55af0905b6ba71e9f8b8614783f9901752d2f2617abe53c6",
+      "depth_source": "waft_stereo_dav2l5",
+      "views": [
+        {
+          "serial": "12540311",
+          "raw_track_sha256": "0df98e392698c184994e446c1b414767626a8b3fc28cba6a96fd781f2022c87c",
+          "lift_sha256": "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+          "query_sha256": "939b69f34adcade40440383c36cf2d04dbc212e61aeff5b23eefb1ef3638e885",
+          "crop_xyxy": [
+            393,
+            281,
+            1109,
+            997
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "5429f2cd45c93ad2f986e199cd8062f6e4c222943f5cbb5ab7946bbc866419f1"
+        },
+        {
+          "serial": "12933256",
+          "raw_track_sha256": "9084c4269314f7d851eec3339f4420825f272ce777295133cdf7d9d3d97a6a9b",
+          "lift_sha256": "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+          "query_sha256": "b8b613d4c18f5b92e75e4b9e00b427c9bc7486b198ab122cda8be55ab056c9bc",
+          "crop_xyxy": [
+            699,
+            147,
+            1384,
+            832
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "6ad35616256c371682b77f3bb716b6ef73bb465e0cf39406f91167f28630f11d"
+        },
+        {
+          "serial": "17736741",
+          "raw_track_sha256": "fb1ae060afe6ac83f3ab9631894d0dc69863de31c10a0e3ffdbbd6d12a0fa347",
+          "lift_sha256": "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+          "query_sha256": "2982e8fc683dabe024246c350d75c3deeeb1b5d8bd889933b557c6c58a4e938d",
+          "crop_xyxy": [
+            473,
+            141,
+            1231,
+            899
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e"
+        },
+        {
+          "serial": "23007103",
+          "raw_track_sha256": "c7f0788f8d055f27f95f5f5175038dd3c9e9808574c135572cc9531b796f9b85",
+          "lift_sha256": "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479",
+          "query_sha256": "e1732546135de1f703187f1ee3e2e4ab3b7a4c2e80610ad3924f36ba3c9c5cac",
+          "crop_xyxy": [
+            801,
+            161,
+            1607,
+            967
+          ],
+          "visibility_rule": "raw TAPNext++ visibility logit > 0",
+          "validity_policy": "RT D7 selected native support",
+          "depth_file_sha256": "ffb5bc058a27d7aa3c9342410533d9532b39a6b2b7eb8326acb942ccd0f4ed4f"
+        }
+      ],
+      "input_inventory_sha256": "414f3f245b80ebca11a4fd7bcb593d2c36555fdd3cb46a17ffe66d4814dba06b",
+      "mask_signoffs": {
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff.json": "5b5568fbf6abc9bc6150496bf58e377d14d6fc698455c8578108b1d4abd35f7e",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/review_signoff_occluder.json": "6f12988f44d8db02d1d487e2c641a493354388df4ba638de8daf36dc0ec9d2ff"
+      },
+      "supervision": {
+        "binding_sha256": "fc463d3ff066523351e0d9741846c16f3b25f895d68c7c42f1865db8001f61d5",
+        "science": {
+          "kind": "real_rgbd_rt_supervision_binding_v1",
+          "supervision_policy": "initialization_only_mesh_gate_v1",
+          "temporal_scope": "the mesh gates particle initialization only; every first-derived-valid measured track stays a Chamfer target under non-mesh per-sample validity; no whole-track exclusion, static later-volume gate or per-frame mesh mask",
+          "chamfer_targets": "RT-S1 option B: every object track valid at the first derived sample, before duplicate/voxel selection; each saved (serial, query) once, in source view/query order",
+          "tracking_pairs": "each initialized original's own measured row -> its particle index in [0:N]; duplicate/voxel-mate resolution, proximity and mesh points never create pairs",
+          "motion_validity": "U object motion filter on the complete first-derived-valid measured pool in source visiting order, before any mesh gate or voxel selection; each pair gathers its own row",
+          "initialization": "the saved inclusive initial band (distance_to_solid <= band) decides only which tracks seed particles",
+          "normalization": {
+            "rule": "RT-S2, fixed for the whole run; C/T weights unchanged",
+            "D_C_definition": "sum V[1] over every Chamfer target",
+            "D_C": 1136,
+            "D_T_definition": "sum M[0] over the genuine pairs' own targets",
+            "D_T": 285
+          },
+          "counts": {
+            "P": 1258,
+            "pairs": 369,
+            "N": 369,
+            "S": 724,
+            "A": 729,
+            "controls": {
+              "hand_A": 16,
+              "hand_B": 14
+            },
+            "initialization_groups": {
+              "initialized_original": 369,
+              "in_band_not_initialized": 314,
+              "outside_initial_band": 575
+            }
+          },
+          "initialization_band_m": 0.01,
+          "mechanical_source": {
+            "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/binding.json",
+            "binding_sha256": "cd1bfc61474179ceb6e35eb0197b8e8a426406468f6c942be5f5cccea8771a82",
+            "mesh_rules": {
+              "name": "m2_10mm_centerline_voxels_v3",
+              "initial_band_m": 0.01,
+              "interior": "retained_centerline_core",
+              "core_spacing_m": 0.005
+            },
+            "binding": {
+              "mesh_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/shape_prior.glb",
+              "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+              "library": "trimesh",
+              "library_version": "4.12.0",
+              "trimesh_signed_distance_surface_tolerance_m": 1e-08,
+              "input_units": "meters",
+              "scale_to_m": 1.0,
+              "units": "meters",
+              "scene_instances": [
+                {
+                  "node": "geometry_0",
+                  "geometry": "geometry_0",
+                  "transform": [
+                    [
+                      1.0,
+                      0.0,
+                      0.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      1.0,
+                      0.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      0.0,
+                      1.0,
+                      0.0
+                    ],
+                    [
+                      0.0,
+                      0.0,
+                      0.0,
+                      1.0
+                    ]
+                  ]
+                }
+              ],
+              "frame": "table",
+              "alignment": "none",
+              "vertices": 864,
+              "faces": 1728,
+              "euler_number": 0,
+              "volume_m3": 1.6631369433968857e-05,
+              "bounds_m": [
+                [
+                  -0.0799374207854271,
+                  -0.2566836178302765,
+                  0.01452484168112278
+                ],
+                [
+                  0.09918734431266785,
+                  -0.018659712746739388,
+                  0.030974799767136574
+                ]
+              ],
+              "ground_minimum_z_m": 0.01452484168112278,
+              "manifest_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/manifest.json",
+              "manifest_sha256": "322d265118068cb2220dc7ee2ae8c438b09f876e2559ab2ec87ca8c5928e0277",
+              "geometry_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_spline_2d_weight4_20260927/tube/geometry.npz",
+              "geometry_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+              "centerline_points": 72
+            },
+            "sampling": {
+              "call_order": [
+                "sample_surface(seed=None)"
+              ],
+              "centerline_length_m": 0.6378165119337573,
+              "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+              "core_arc_spacing_m": 0.004982941499482479,
+              "core_depth_inside_min_max_m": [
+                0.0028392697762003364,
+                0.002848582439780114
+              ],
+              "core_points": 128,
+              "core_start": "centerline vertex 0",
+              "interior_construction": "retained closed-prior centerline candidates; shared voxel competition",
+              "interior_returned": 128,
+              "library": "trimesh",
+              "library_version": "4.12.0",
+              "mesh_rules": {
+                "name": "m2_10mm_centerline_voxels_v3",
+                "initial_band_m": 0.01,
+                "interior": "retained_centerline_core",
+                "core_spacing_m": 0.005
+              },
+              "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+              "numpy_version": "2.4.4",
+              "rng": "numpy.random legacy MT19937",
+              "seed": 42,
+              "surface_requested": 1024,
+              "surface_returned": 1024,
+              "volume_calls": 0,
+              "retained_from": {
+                "binding_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/binding.json",
+                "raw_samples": {
+                  "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_03/mesh/raw_samples.npz",
+                  "sha256": "3be352cbb00659286f2040cc479f0490d7554e4861e2cc4d8f396528815abe45"
+                },
+                "sampling": {
+                  "call_order": [
+                    "sample_surface(seed=None)"
+                  ],
+                  "centerline_length_m": 0.6378165119337573,
+                  "centerline_sha256": "545a54857c6837df0b131e4b1d0b3564fd9e0913e97f69ee2b9e4d93707737c2",
+                  "core_arc_spacing_m": 0.004982941499482479,
+                  "core_depth_inside_min_max_m": [
+                    0.0028392697762003364,
+                    0.002848582439780114
+                  ],
+                  "core_points": 128,
+                  "core_start": "centerline vertex 0",
+                  "interior_construction": "closed prior centerline, uniform arc spacing; outside the shared voxels",
+                  "interior_returned": 128,
+                  "library": "trimesh",
+                  "library_version": "4.12.0",
+                  "mesh_rules": {
+                    "core_spacing_m": 0.005,
+                    "initial_band_m": 0.01,
+                    "interior": "centerline_core",
+                    "name": "m2_10mm_centerline_core_v2"
+                  },
+                  "mesh_sha256": "bb2fa44c317e045419b24f5118183ac38d6ff6e6f0df7eaf8cc129d4b67964bc",
+                  "numpy_version": "2.4.4",
+                  "rng": "numpy.random legacy MT19937",
+                  "seed": 42,
+                  "surface_requested": 1024,
+                  "surface_returned": 1024,
+                  "volume_calls": 0
+                }
+              }
+            },
+            "N": 369,
+            "S": 724,
+            "A": 729,
+            "voxel_origin_m": [
+              -0.08796761453834251,
+              -0.260630781108871,
+              0.005710309135857044
+            ],
+            "controller_reference": "selected [0:S] original union added surface, excluding interior",
+            "products": {
+              "raw_samples": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/raw_samples.npz",
+                "sha256": "4e39da405783dbc0e2bc26e615b66c559d651058e79e09c3705d0ea7c06d7ff7"
+              },
+              "selection": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/selection.npz",
+                "sha256": "84acedd3e08fc90b91a3328a4dab7133113c023877f11cebc5db168eda201574"
+              },
+              "initial_distances": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/initial_distances.npz",
+                "sha256": "0e569b7a0eb2eab0dbaf57a6a65af7c36e42840151a126ca0f6905865208bd01"
+              },
+              "association": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_association.npz",
+                "sha256": "e9559b29afb3eeef40ecce018ef9d7ed3013a62a397537c0002fb227478de8bc"
+              },
+              "controller_gate": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/mesh/controller_gate.npz",
+                "sha256": "b7392b93d8f51e2ee77f855d87b6141e90bd292172ab8eb9c1bc20ceac066373"
+              },
+              "fitting_observations": {
+                "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06_mechanics/fitting/fitting_observations.npz",
+                "sha256": "1beffa9bf7bbba3db944ec6209d8a1d71c2c0ef039264f948a32603eae8a364e"
+              }
+            }
+          },
+          "measurement_source": {
+            "premesh_fitting_observations": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_observations.npz",
+              "sha256": "900e4e8942c8e9527f37420f3a83a047e317974b9f19fa2f3507422ef81ce99c"
+            },
+            "premesh_association": {
+              "path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/fitting/fitting_association.npz",
+              "sha256": "161ce8437d479c741609a6b28fc5637ccf3d7674787b85f15d2007085e758e2b"
+            },
+            "native_lifts": [
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12540311.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_12933256.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_17736741.npz",
+              "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/rt3_generation_20261001_depth_consistency/lifted/lifted_23007103.npz"
+            ],
+            "native_lift_sha256": [
+              "6f6a8a090baa18da6638b1debc9b7137b54ab801caad26b92211fa0be315d3a6",
+              "e9a1f840a7b476eda7062f6191915735a8c9d818a6c2846df909b1199e3c2aa0",
+              "a75a734a573e591990a5e7a1a3211da8a9453eab5e1d159cff760846ed01e434",
+              "75ef85f35aac4aedd31b351db2da706f8e668ca8f7914ca51c09998b1874a479"
+            ]
+          },
+          "maps": {
+            "target_candidate_index": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "713594f78fe2b5733777cf9cbdfac60f882faf988dd46f2035abbd3cebb511f4"
+            },
+            "target_view_index": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "37434248964ddb5b3b2da2f4e78a6c6e9ada5db333bd902b8659005225665bb8"
+            },
+            "target_query_id": {
+              "shape": [
+                1258
+              ],
+              "dtype": "int64",
+              "sha256": "83fc41c1acd6c46ec508f47e929883b6dd558a3f2377839296e2c1cd95e15611"
+            },
+            "target_initialization": {
+              "shape": [
+                1258
+              ],
+              "dtype": "<U32",
+              "sha256": "1973d3b13a5f7aa2b837632210623754e10b6eaea31351093305d17231231790"
+            },
+            "pair_target_index": {
+              "shape": [
+                369
+              ],
+              "dtype": "int64",
+              "sha256": "ebc33af325dc40fd972f7bcdd96497425b6979424e9126d73b0aec5d7ef7ac2b"
+            },
+            "pair_node_index": {
+              "shape": [
+                369
+              ],
+              "dtype": "int64",
+              "sha256": "5516c8a4fbbe002a0e774015287ce4dd4299fa3e970cd0f08916f9a444c6e70b"
+            },
+            "controller_candidate_index": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "ed1e9e8a166db27b6bb70887dfe43a7b28467e7570e3f5b7039dfc786d64bb1e"
+            },
+            "controller_hand_id": {
+              "shape": [
+                30
+              ],
+              "dtype": "<U6",
+              "sha256": "6ea721bee75745ec9fc29a4f33d3a25e6eb9843dc9fb99e923c2c09c3e41931a"
+            },
+            "controller_view_index": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "82cc70636eb1e1e562f67d2fc58dcd8ddcbfa8813d6bb33eca300a0b594b474c"
+            },
+            "controller_query_id": {
+              "shape": [
+                30
+              ],
+              "dtype": "int64",
+              "sha256": "d063ebb57facec0e757d667f885c9ebc112dcea40eeb4d8f2cba64f851ffc237"
+            }
+          },
+          "native_model": "pending the RT4-SUPERVISION initialization writer: originals from each pair's own first measured sample; additions, controls and center topology reused from the mechanical source"
+        },
+        "products": {
+          "association": "595c282b1e946ab4f5c2702fbb55d8e7c59a890aec6ebcdb5204a517d0528a6b",
+          "fitting_observations": "fb04e68d658790c3aca750f57a01023b26683d13a5be69e5d516c3e80e82bc27"
+        }
+      }
+    },
+    "protocol": {
+      "source": "U cma_optimize_warp.py optimize/error_func @81c71879; configs/real.yaml",
+      "dimension": 12,
+      "bounds": [
+        0.0,
+        1.0
+      ],
+      "coordinates": [
+        [
+          "spring_y",
+          [
+            0,
+            100000.0
+          ]
+        ],
+        [
+          "object_radius_m",
+          [
+            0.01,
+            0.05
+          ]
+        ],
+        [
+          "object_max_neighbours",
+          [
+            10,
+            50
+          ]
+        ],
+        [
+          "controller_radius_m",
+          [
+            0.01,
+            0.08
+          ]
+        ],
+        [
+          "controller_max_neighbours",
+          [
+            10,
+            80
+          ]
+        ],
+        [
+          "ground_restitution",
+          "direct"
+        ],
+        [
+          "ground_friction",
+          [
+            0,
+            2
+          ]
+        ],
+        [
+          "object_restitution",
+          "direct"
+        ],
+        [
+          "object_friction",
+          [
+            0,
+            2
+          ]
+        ],
+        [
+          "collision_distance_m",
+          [
+            0.01,
+            0.05
+          ]
+        ],
+        [
+          "drag_damping",
+          [
+            0,
+            20
+          ]
+        ],
+        [
+          "dashpot_damping",
+          [
+            0,
+            200
+          ]
+        ]
+      ],
+      "center": [
+        0.3,
+        0.25,
+        0.5,
+        0.4285714285714285,
+        0.5714285714285714,
+        0.5,
+        0.15,
+        0.7,
+        0.15,
+        0.25,
+        0.15,
+        0.5
+      ],
+      "sigma": 0.16666666666666666,
+      "seed": 42,
+      "population_size": "popsize omitted: pinned pycma dimension default (as U); resolved value in manifest strategy",
+      "sampler": "private numpy RandomState(42).randn (parity with U's globally seeded default)",
+      "backend": "pycma_4_4_4_serial_ask_tell_v1",
+      "max_generations": 250,
+      "stopping": "es.stop() at every loop head, honoured after the first generation; else max_generations",
+      "score": "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))",
+      "told_failures": "+inf only for a physical nonfinite dynamics endpoint; other errors stop the run",
+      "object_collision": "inactive (self_collision=False, no object masks); its three coordinates have no effect"
+    },
+    "strategy": {
+      "backend_id": "pycma_4_4_4_serial_ask_tell_v1",
+      "package_version": "4.4.4",
+      "dimension": 12,
+      "population_size": 11,
+      "population_size_source": "pycma_default",
+      "resolved_mu": 5,
+      "seed": 42,
+      "initial_sigma": 0.16666666666666666,
+      "creation_options": {
+        "bounds": [
+          0.0,
+          1.0
+        ],
+        "seed": 42,
+        "randn": "numpy.random.RandomState.randn"
+      }
+    }
+  },
+  "execution_owner": "Codex RT-FAITHFUL-TRACK owner",
+  "children": [
+    {
+      "stage": "cma",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "cma",
+        "--fitting",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+        "--output",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma",
+        "--device",
+        "cuda:0",
+        "--max-generations",
+        "250",
+        "--candidate-width",
+        "2",
+        "--handoff-policy",
+        "rt_atomic_single_realization_v1"
+      ],
+      "identity": {
+        "pid": 3401060,
+        "pgid": 3401060,
+        "start_ticks": "139791572",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3401060,
+      "pgid": 3401060,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-cma-1.log",
+      "exit_status": 0
+    },
+    {
+      "stage": "collector",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "telemetry-collect",
+        "--fitting",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+        "--cma-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma",
+        "--adam-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam",
+        "--output",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/telemetry-collector",
+        "--run-name",
+        "rt_mesh_refit06_full_fit_cma250_projadam_01",
+        "--follow",
+        "--poll-seconds",
+        "2"
+      ],
+      "identity": {
+        "pid": 3401268,
+        "pgid": 3401268,
+        "start_ticks": "139792072",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3401268,
+      "pgid": 3401268,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-collector-1.log",
+      "exit_status": 0
+    },
+    {
+      "stage": "adam",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "fit-adam",
+        "--fitting",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+        "--cma-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma",
+        "--output",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam",
+        "--device",
+        "cuda:0",
+        "--handoff-policy",
+        "rt_atomic_single_realization_v1",
+        "--complete-traversals",
+        "500",
+        "--checkpoint-every-updates",
+        "100",
+        "--capture-telemetry",
+        "--projected-log-y"
+      ],
+      "identity": {
+        "pid": 3654091,
+        "pgid": 3654091,
+        "start_ticks": "141073217",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3654091,
+      "pgid": 3654091,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-adam-1.log",
+      "exit_status": 0
+    },
+    {
+      "stage": "evaluator",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "evaluate-pending",
+        "--fitting",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+        "--run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam",
+        "--device",
+        "cuda:0",
+        "--retain-all-trajectories",
+        "--follow",
+        "--poll-seconds",
+        "5"
+      ],
+      "identity": {
+        "pid": 3654521,
+        "pgid": 3654521,
+        "start_ticks": "141073727",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3654521,
+      "pgid": 3654521,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-evaluator-1.log",
+      "exit_status": 0
+    },
+    {
+      "stage": "select",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "select-best",
+        "--run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam",
+        "--require-complete"
+      ],
+      "identity": {
+        "pid": 3849912,
+        "pgid": 3849912,
+        "start_ticks": "142091605",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3849912,
+      "pgid": 3849912,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-select-1.log",
+      "exit_status": 0
+    },
+    {
+      "stage": "collect_final",
+      "command": [
+        "/mnt/data0/magna/belt_perception_wt_rt_faithful_track_20261010/.venv/bin/python",
+        "-u",
+        "scripts/phystwin_real_rgbd.py",
+        "telemetry-collect",
+        "--fitting",
+        "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_mesh_refit_06/fitting/fitting_observations.npz",
+        "--cma-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/cma",
+        "--adam-run",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/adam",
+        "--output",
+        "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/telemetry-collector",
+        "--run-name",
+        "rt_mesh_refit06_full_fit_cma250_projadam_01"
+      ],
+      "identity": {
+        "pid": 3850050,
+        "pgid": 3850050,
+        "start_ticks": "142092037",
+        "boot_id": "585cb17f-f29d-43fa-9429-1fb64d2db4ee"
+      },
+      "pid": 3850050,
+      "pgid": 3850050,
+      "log": "/mnt/data0/magna/belt_perception_runs/rt_faithful_track_20261010/full_fit_cma250_projadam_01/logs/attempt-001-collect_final-1.log",
+      "exit_status": 0
+    }
+  ],
+  "evaluation_schedule": "concurrent",
+  "status": "science_complete",
+  "evaluation": {
+    "expected_candidates": 501,
+    "produced": 501,
+    "completed": 501,
+    "pending": [],
+    "claimed": [],
+    "unresolved_errors": [],
+    "lag_candidates": 0,
+    "latest_produced": 500,
+    "training_updates": 245500,
+    "training_complete": true
+  }
+}