sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking: package_final batch 1/1
Browse files- sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/README.md +36 -0
- sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/checkpoints.tsv +0 -0
- sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/containers/index.json +0 -0
- sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/dependencies.json +1452 -0
- sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/run.json +654 -0
sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/README.md
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# c6-230830-350739-tracking
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C6 tracking production fit of session 230830_350739; configured CMA and 500 Adam traversals completed before operation cutoff.
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| Field | Value |
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|---|---|
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| Status | complete |
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| Identity | session_id `session_20260921_230830_350739`, window_id `anchor0349-0805` |
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| Parent | none recorded |
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| Stages | cma, adam |
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| Budget (completed/configured) | cma: (completed_generations 250, issued_asks 2750, told_asks 2750, center_evaluations 1, physical_failures 0); adam: traversals 500/500, updates 228500/228500 |
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| Labels | BEST adam/c0111, FINAL adam/c0500 |
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| Code revision(s) | `f91af3566932264bfa9f9e514b037f8a1ae67232`; dirty tree by stage: cma reported clean, adam reported clean |
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| Checkpoint rows | 6288 (`checkpoints.tsv`) |
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| Containers | 17,081 native and evidence files packed in 14 uncompressed tar containers by category (adam_continuation 1, adam_snapshot 1, cma_candidate 8, cma_generation_state 1, frozen_score 1, logs 1, records 1); `containers/index.json` lists each member's path, offset, size and sha256, and `checkpoints.tsv` still lists every checkpoint file |
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## Stages
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- **cma** (`native/cma/manifest.json`): "mean over K of compute_final_loss(C, T, A), fresh history per ask (U total_loss / (train_frame - 1))"
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- **adam** (`native/adam/manifest.json`): "R4 SourceWarpObjective stage adam: C over the P measured targets against surface [0:S] with fixed D_C = |V[1]|, T over the genuine pairs with fixed D_T = |M[0]| of their own rows, A never active"
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- stiffness update: projected: finite raw log Y moved back onto the physical cap after every update (protocol.projected_log_y true)
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## Capabilities
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- **portable_use**: native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending
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- **interrupted_run_recovery**: restore-only of a nonterminal projected source Adam continuation is implemented (scripts/use_published_phystwin.py restore-continuation; PR4 validated it on A faithful tracking and RT05 projected Adam): it rebuilds the trainer and optimizer state exactly and takes zero updates. That is not a demonstration of continued fitting, which is not claimed
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- **extend_completed_budget**: not supported: the native protocols refuse to extend a finished run's horizon
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- **full_reproduction**: not claimed (D3); dirty-state and environment limits are listed under code
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## Limitations
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- continuing this fit re-hashes author weights TAPNext++ tapnextpp_512 checkpoint (Google DeepMind TAPNet) (/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt); they are not published here (dependencies.json third_party_weights names their source and sha256)
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- historical depth: the run's records name depth_source waft_stereo_dav2l5 but no per-stream digest, so the consumed depth bytes and their publication revision are unresolved; correction ledgers replaced 4 depth paths of this session (c9fa16c0c8ac)
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- Completion records establish completion of the configured work, not owner acceptance of model quality.
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Native records under `native/` are authoritative; `run.json`, `checkpoints.tsv` and `dependencies.json` index them. License: see the repository `LICENSE` and card.
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sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/checkpoints.tsv
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sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/containers/index.json
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The diff for this file is too large to render.
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sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/dependencies.json
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|
| 1 |
+
{
|
| 2 |
+
"dataset_inputs": [
|
| 3 |
+
{
|
| 4 |
+
"cited_by": [
|
| 5 |
+
"resume identity check of /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/mechanics_v3/fitting/fitting_observations.npz:model_io.source_input_identity",
|
| 6 |
+
"resume identity check of /mnt/kostas-graid/datasets/leonmkim/belt_perception_shared/c6_lab_fitting_20261029/grasp_inputs_v1/recorded_data/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/supervision/fitting/fitting_observations.npz:model_io.source_input_identity"
|
| 7 |
+
],
|
| 8 |
+
"class": "dataset_input",
|
| 9 |
+
"dataset": {
|
| 10 |
+
"artifact_blocked": false,
|
| 11 |
+
"dataset_plan": "/mnt/data0/magna/belt_perception_runs/phystwin_hf_relayout_1_20261102/plans/lab_dataset_relayout.json",
|
| 12 |
+
"path_in_repo": "sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/native/frames_waft/cameras/12540311/inspection/frames.npz",
|
| 13 |
+
"pinned_by": {
|
| 14 |
+
"path_in_repo": "sessions/session_20260921_230830_350739/preprocessing/c6a-input-preparation-v1/containers/payload_000_a56aef2f1fdd3d19402153555833e4dc9bf252e8c099d15e42a147660fdf986b.tar",
|
| 15 |
+
"sha256": "a56aef2f1fdd3d19402153555833e4dc9bf252e8c099d15e42a147660fdf986b"
|
| 16 |
+
},
|
| 17 |
+
"repo_id": "DAIRLab/phystwin_dataset",
|
| 18 |
+
"revision": "b98c0494bdbe18b07171ca844f087d78ec429e66",
|
| 19 |
+
"sha256": "dbb93649e2c4f6907b458f02b1efb238819c88f53bad5a8fc941ed4427ac6126"
|
| 20 |
+
},
|
| 21 |
+
"exists": true,
|
| 22 |
+
"is_dir": false,
|
| 23 |
+
"recorded_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_230830_350739/window_anchor0349-0805/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz",
|
| 24 |
+
"recorded_sha256": null,
|
| 25 |
+
"session_id": "session_20260921_230830_350739",
|
| 26 |
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|
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|
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| 1452 |
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|
sessions/session_20260921_230830_350739/runs/c6-230830-350739-tracking/run.json
ADDED
|
@@ -0,0 +1,654 @@
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|
| 1 |
+
{
|
| 2 |
+
"aliases": [
|
| 3 |
+
{
|
| 4 |
+
"bytes_identical": true,
|
| 5 |
+
"duplicate_of": "native/adam/snapshots/c0111/model/model.npz",
|
| 6 |
+
"path": "native/adam/BEST/model/model.npz",
|
| 7 |
+
"relation": "byte export",
|
| 8 |
+
"role": "BEST"
|
| 9 |
+
},
|
| 10 |
+
{
|
| 11 |
+
"bytes_identical": true,
|
| 12 |
+
"duplicate_of": "native/adam/snapshots/c0111/model/topology.npz",
|
| 13 |
+
"path": "native/adam/BEST/model/topology.npz",
|
| 14 |
+
"relation": "byte export",
|
| 15 |
+
"role": "BEST"
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"bytes_identical": true,
|
| 19 |
+
"duplicate_of": "native/adam/snapshots/c0500/model/model.npz",
|
| 20 |
+
"path": "native/adam/FINAL/model/model.npz",
|
| 21 |
+
"relation": "byte export",
|
| 22 |
+
"role": "FINAL"
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"bytes_identical": true,
|
| 26 |
+
"duplicate_of": "native/adam/snapshots/c0500/model/topology.npz",
|
| 27 |
+
"path": "native/adam/FINAL/model/topology.npz",
|
| 28 |
+
"relation": "byte export",
|
| 29 |
+
"role": "FINAL"
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"bytes_identical": true,
|
| 33 |
+
"duplicate_of": "native/cma/generations/g128/a04/model/model.npz",
|
| 34 |
+
"path": "native/cma/winner/model/model.npz",
|
| 35 |
+
"relation": "byte copy of the committed ask (cma._stage_winner)",
|
| 36 |
+
"role": "CMA winner"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"bytes_identical": true,
|
| 40 |
+
"duplicate_of": "native/cma/generations/g128/a04/model/topology.npz",
|
| 41 |
+
"path": "native/cma/winner/model/topology.npz",
|
| 42 |
+
"relation": "byte copy of the committed ask (cma._stage_winner)",
|
| 43 |
+
"role": "CMA winner"
|
| 44 |
+
}
|
| 45 |
+
],
|
| 46 |
+
"capabilities": {
|
| 47 |
+
"extend_completed_budget": "not supported: the native protocols refuse to extend a finished run's horizon",
|
| 48 |
+
"full_reproduction": "not claimed (D3); dirty-state and environment limits are listed under code",
|
| 49 |
+
"interrupted_run_recovery": "restore-only of a nonterminal projected source Adam continuation is implemented (scripts/use_published_phystwin.py restore-continuation; PR4 validated it on A faithful tracking and RT05 projected Adam): it rebuilds the trainer and optimizer state exactly and takes zero updates. That is not a demonstration of continued fitting, which is not claimed",
|
| 50 |
+
"portable_use": "native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending"
|
| 51 |
+
},
|
| 52 |
+
"checkpoints": {
|
| 53 |
+
"counts": {
|
| 54 |
+
"adam_continuation": 2780,
|
| 55 |
+
"adam_traversal_snapshot": 501,
|
| 56 |
+
"cma_candidate": 2750,
|
| 57 |
+
"cma_center": 1,
|
| 58 |
+
"cma_generation_state": 250,
|
| 59 |
+
"cma_to_adam_handoff": 1,
|
| 60 |
+
"cma_winner": 1,
|
| 61 |
+
"model_initialization": 2,
|
| 62 |
+
"role_export": 2
|
| 63 |
+
},
|
| 64 |
+
"rows": 6288,
|
| 65 |
+
"table": "checkpoints.tsv"
|
| 66 |
+
},
|
| 67 |
+
"code": {
|
| 68 |
+
"belt_perception_commits": [
|
| 69 |
+
"f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 70 |
+
],
|
| 71 |
+
"dirty_reported": false,
|
| 72 |
+
"limitations": [],
|
| 73 |
+
"observations": [
|
| 74 |
+
{
|
| 75 |
+
"key": "code_revision",
|
| 76 |
+
"scope": "cma",
|
| 77 |
+
"source": "native/cma/manifest.json",
|
| 78 |
+
"value": {
|
| 79 |
+
"dirty": false,
|
| 80 |
+
"head": "f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 81 |
+
}
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"key": "code_revision",
|
| 85 |
+
"scope": "adam",
|
| 86 |
+
"source": "native/adam/manifest.json",
|
| 87 |
+
"value": {
|
| 88 |
+
"dirty": false,
|
| 89 |
+
"head": "f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"key": "revision",
|
| 94 |
+
"scope": "run",
|
| 95 |
+
"source": "native/campaign.json",
|
| 96 |
+
"value": "f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"key": "code_revision",
|
| 100 |
+
"scope": "cma",
|
| 101 |
+
"source": "native/cma/resume_1.json",
|
| 102 |
+
"value": {
|
| 103 |
+
"dirty": false,
|
| 104 |
+
"head": "f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"key": "code_revision",
|
| 109 |
+
"scope": "cma",
|
| 110 |
+
"source": "native/cma/resume_2.json",
|
| 111 |
+
"value": {
|
| 112 |
+
"dirty": false,
|
| 113 |
+
"head": "f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 114 |
+
}
|
| 115 |
+
}
|
| 116 |
+
],
|
| 117 |
+
"stages": {
|
| 118 |
+
"adam": {
|
| 119 |
+
"belt_perception_commits": [
|
| 120 |
+
"f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 121 |
+
],
|
| 122 |
+
"dirty_reported": false,
|
| 123 |
+
"sources": [
|
| 124 |
+
"native/adam/manifest.json:code_revision",
|
| 125 |
+
"native/campaign.json:revision"
|
| 126 |
+
]
|
| 127 |
+
},
|
| 128 |
+
"cma": {
|
| 129 |
+
"belt_perception_commits": [
|
| 130 |
+
"f91af3566932264bfa9f9e514b037f8a1ae67232"
|
| 131 |
+
],
|
| 132 |
+
"dirty_reported": false,
|
| 133 |
+
"sources": [
|
| 134 |
+
"native/cma/manifest.json:code_revision",
|
| 135 |
+
"native/campaign.json:revision",
|
| 136 |
+
"native/cma/resume_1.json:code_revision",
|
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| 496 |
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"value": "es.stop() at every loop head, honoured after the first generation; else max_generations"
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| 497 |
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}
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| 498 |
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},
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| 499 |
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| 505 |
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"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",
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| 513 |
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},
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| 514 |
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{
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| 515 |
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| 516 |
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"key": "protocol.best_metric",
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| 517 |
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"source": "native/adam/manifest.json",
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| 518 |
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"value": "independent frozen C + T replay (mean over K); lowest finite, earliest candidate on exact ties"
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| 519 |
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"key": "complete_traversals",
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| 524 |
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| 526 |
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| 528 |
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"key": "total_updates",
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| 529 |
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"source": "native/adam/training_complete.json",
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| 530 |
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| 531 |
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| 532 |
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| 535 |
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"key": "protocol.complete_traversals",
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| 536 |
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| 537 |
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"value": 500
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| 538 |
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},
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| 539 |
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| 540 |
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"key": "protocol.planned_updates",
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"key": "protocol.updates_per_traversal",
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| 546 |
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"source": "native/adam/manifest.json",
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| 547 |
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"value": 457
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| 548 |
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}
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| 549 |
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}
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| 550 |
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},
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| 551 |
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"manifest": "native/adam/manifest.json",
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| 552 |
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| 553 |
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"key": "protocol.objective",
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| 554 |
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"source": "native/adam/manifest.json",
|
| 555 |
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"value": "R4 SourceWarpObjective stage adam: C over the P measured targets against surface [0:S] with fixed D_C = |V[1]|, T over the genuine pairs with fixed D_T = |M[0]| of their own rows, A never active"
|
| 556 |
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},
|
| 557 |
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| 558 |
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| 559 |
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"key": "protocol.betas",
|
| 560 |
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"source": "native/adam/manifest.json",
|
| 561 |
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"value": [
|
| 562 |
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0.9,
|
| 563 |
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0.99
|
| 564 |
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]
|
| 565 |
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},
|
| 566 |
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|
| 567 |
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"key": "protocol.eps",
|
| 568 |
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"source": "native/adam/manifest.json",
|
| 569 |
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"value": 1e-08
|
| 570 |
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},
|
| 571 |
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"lr": {
|
| 572 |
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"key": "protocol.lr",
|
| 573 |
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"source": "native/adam/manifest.json",
|
| 574 |
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"value": 0.001
|
| 575 |
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},
|
| 576 |
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| 577 |
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"key": "protocol.optimizer",
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| 578 |
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"source": "native/adam/manifest.json",
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| 579 |
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"value": "torch.optim.Adam"
|
| 580 |
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},
|
| 581 |
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|
| 582 |
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"key": "protocol.scheduler",
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| 583 |
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"source": "native/adam/manifest.json",
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| 584 |
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"value": null
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| 585 |
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| 586 |
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| 587 |
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"key": "protocol.weight_decay",
|
| 588 |
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"source": "native/adam/manifest.json",
|
| 589 |
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"value": 0.0
|
| 590 |
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}
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| 591 |
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| 592 |
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| 593 |
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|
| 594 |
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"key": "protocol.frozen",
|
| 595 |
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"source": "native/adam/manifest.json",
|
| 596 |
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"value": [
|
| 597 |
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"topology",
|
| 598 |
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"rests",
|
| 599 |
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"masses",
|
| 600 |
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"attachments",
|
| 601 |
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"drag",
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| 602 |
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"dashpot",
|
| 603 |
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"collision_distance",
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| 604 |
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"clock",
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| 605 |
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|
| 606 |
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]
|
| 607 |
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},
|
| 608 |
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|
| 609 |
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"key": "protocol.inactive_leaves",
|
| 610 |
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"source": "native/adam/manifest.json",
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| 611 |
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"value": [
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| 612 |
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"raw_object_restitution",
|
| 613 |
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|
| 614 |
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]
|
| 615 |
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|
| 616 |
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|
| 617 |
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"key": "protocol.leaves",
|
| 618 |
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"source": "native/adam/manifest.json",
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| 619 |
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"value": [
|
| 620 |
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"log_spring_y",
|
| 621 |
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"raw_ground_restitution",
|
| 622 |
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"raw_ground_friction",
|
| 623 |
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"raw_object_restitution",
|
| 624 |
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"raw_object_friction"
|
| 625 |
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]
|
| 626 |
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}
|
| 627 |
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},
|
| 628 |
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"schema": "real_rgbd_source_adam_run_v1",
|
| 629 |
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"seed": {
|
| 630 |
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"reason": "the Adam stage records no random seed; its traversal order is chronological",
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| 631 |
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| 632 |
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"native/adam/manifest.json"
|
| 633 |
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| 634 |
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| 635 |
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},
|
| 636 |
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"stage": "adam",
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| 637 |
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|
| 638 |
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"key": "protocol.projected_log_y",
|
| 639 |
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"source": "native/adam/manifest.json",
|
| 640 |
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"value": "projected: finite raw log Y moved back onto the physical cap after every update (protocol.projected_log_y true)"
|
| 641 |
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}
|
| 642 |
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}
|
| 643 |
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],
|
| 644 |
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| 645 |
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|
| 646 |
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"native/adam/training_complete.json",
|
| 647 |
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"native/adam/best.json",
|
| 648 |
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"native/cma/result.json"
|
| 649 |
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],
|
| 650 |
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"label": "complete",
|
| 651 |
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|
| 652 |
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| 653 |
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| 654 |
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}
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