diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..14595ee4b32001fcb95697e333c844a937b09503 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb56c37309dfc31b17c84249276203d777501bcf31f1912f392144e947a37e16 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e3a9240aa263fe3c00de105af43bfdbbe7d86c3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01354480d04fd555f151317ff26f397585b18181e23358509e00d01acbd03f2e +size 88646 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..feca6fb8df8387d5a2f80485bb3779826e1f5940 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcc541443b265c6953f161d68978a8d921b85f489553eeb82def092148c4aa75 +size 397144 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..155f43301b45576654f608a699956132570e086d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 116, + "ask_index": 9, + "global_ask_index": 1285, + "normalized": [ + 0.40768317881548083, + 0.9812915911400382, + 0.9999985372740632, + 0.5094962820971908, + 0.8694514334503349, + 0.793794398799554, + 0.2748872633921587, + 0.5710809419722908, + 0.1876763153404056, + 0.8592573023960505, + 0.999634945614687, + 0.9894011213938361 + ], + "settings": { + "spring_y": 40768.317881548086, + "object_radius_m": 0.04925166364560153, + "object_max_neighbours": 49, + "controller_radius_m": 0.04566473974680336, + "controller_max_neighbours": 70, + "ground_restitution": 0.793794398799554, + "ground_friction": 0.5497745267843174, + "object_restitution": 0.5710809419722908, + "object_friction": 0.3753526306808112, + "collision_distance_m": 0.04437029209584202, + "drag_damping": 19.99269891229374, + "dashpot_damping": 197.8802242787672 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1159, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04565625637769699 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 222, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 662, + "hand_B": 497 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.057635546894744, + "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": 0.05084874993190169, + "workspace_s": 0.29701225901953876, + "objective_s": 0.005827972898259759, + "stage_capture_s": 0.1288140481337905, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.006998182041570544, + "complete_s": 0.017898496007546782 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010397401638329029, + "complete_s": 0.00024336017668247223 + } + }, + "total_s": 0.4499746828805655 + } + } + }, + "wall_time_s": 8.583978838985786, + "outcome": "finite", + "score": 0.0008568088268125459, + "tell_score": 0.0008568088268125459, + "observation_score": 0.000496536283261833, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..a46120bc9f0cd79595cb2261fc30cc85f5d2a98f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:868199571a61d5549fd234270b093f64da6565525664f11b967cd772816a63e3 +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..5228b185084455e00e1b7afdd0d5454d22fb6140 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ccce9a86cc2a2c4f6335799f5e277c160438f29421cac75619c7aa5f7e3046e +size 88554 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..17807e71b1f52506d6cb98cd96023ca82737d77e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eddb9df889975821f945bff4f520276f9ca047d303ce130f416f136f88d121b +size 396676 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..1e10873c087e61bf14efcfdf4fadf35b7056d48e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 116, + "ask_index": 10, + "global_ask_index": 1286, + "normalized": [ + 0.40755970533917407, + 0.9702379572431751, + 0.9998869860846972, + 0.5071325911851761, + 0.8470977201144358, + 0.7934178340874263, + 0.261441522331659, + 0.5569220340510016, + 0.1888753712045976, + 0.8813164167287345, + 0.999908093114691, + 0.9895133741608557 + ], + "settings": { + "spring_y": 40755.97053391741, + "object_radius_m": 0.048809518289727, + "object_max_neighbours": 49, + "controller_radius_m": 0.04549928138296233, + "controller_max_neighbours": 69, + "ground_restitution": 0.7934178340874263, + "ground_friction": 0.522883044663318, + "object_restitution": 0.5569220340510016, + "object_friction": 0.3777507424091952, + "collision_distance_m": 0.045252656669149384, + "drag_damping": 19.99816186229382, + "dashpot_damping": 197.90267483217116 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1136, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045499205589294434 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 220, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 647, + "hand_B": 489 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.648167958017439, + "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": 0.05576997296884656, + "workspace_s": 0.20740890689194202, + "objective_s": 0.00579657987691462, + "stage_capture_s": 0.12784108519554138, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007626733044162393, + "complete_s": 0.018496130127459764 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.000136449933052063, + "complete_s": 0.00027281208895146847 + } + }, + "total_s": 0.36005844990722835 + } + } + }, + "wall_time_s": 6.077127395896241, + "outcome": "finite", + "score": 0.0008561470581511654, + "tell_score": 0.0008561470581511654, + "observation_score": 0.0004962291006742628, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..628c86913f5a29a50fa5f3a4651f8b02555c0838 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c20af041127435b610906453910fe6da905cb9caedd7c5b06b139558dd2fcf62 +size 2528882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..81314f3a5b7a0816f0132ffd5bc3716cab7d7cbf --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e0df07fc9c8e8ee9ac41fa234ac732b8a23bf5d1ae4bf763819bc93197f1c3c +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f144e3e4f9c1855fe82b40d38241600e4ccf4e3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791679084.5238776, "t_invocation_s": 0.000114579, "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": 1791679084.524538, "t_invocation_s": 0.000775144, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679085.0284781, "t_invocation_s": 0.504715647, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05511962901800871, "workspace_s": 0.28796246694400907, "objective_s": 0.00581060815602541, "stage_capture_s": 0.13005882780998945, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008061876054853201, "complete_s": 0.018922823946923018}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011117896065115929, "complete_s": 0.0002504910808056593}}, "total_s": 0.44319865107536316}, "object_springs": 18544, "controller_springs": 1174} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679085.4581192, "t_invocation_s": 0.934356556, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05272464896552265, "workspace_s": 0.2092009901534766, "objective_s": 0.005913238972425461, "stage_capture_s": 0.13191819889470935, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008304388960823417, "complete_s": 0.01918673701584339}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011638808064162731, "complete_s": 0.00024562515318393707}}, "total_s": 0.36666260403580964}, "object_springs": 18544, "controller_springs": 1133} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679085.463267, "t_invocation_s": 0.939504309, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679093.5338712, "t_invocation_s": 9.01010842, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679093.54638, "t_invocation_s": 9.02261715, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679093.5738373, "t_invocation_s": 9.050074745, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679093.6012979, "t_invocation_s": 9.077535396, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679093.602299, "t_invocation_s": 9.078535982, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679094.132565, "t_invocation_s": 9.608802309, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.1349016090389341, "workspace_s": 0.2390518500469625, "objective_s": 0.005642375908792019, "stage_capture_s": 0.125973179936409, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0077755211386829615, "complete_s": 0.018636797089129686}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.588501416146755e-05, "complete_s": 0.00020674103870987892}}, "total_s": 0.3896718129981309}, "object_springs": 18544, "controller_springs": 1130} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679094.6415668, "t_invocation_s": 10.117804166, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05090891616418958, "workspace_s": 0.2969661559909582, "objective_s": 0.005639952840283513, "stage_capture_s": 0.12643036106601357, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007540774066001177, "complete_s": 0.018436484038829803}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010233791545033455, "complete_s": 0.00022045988589525223}}, "total_s": 0.4478537938557565}, "object_springs": 18544, "controller_springs": 1120} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679094.6468267, "t_invocation_s": 10.123063986, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679102.7095194, "t_invocation_s": 18.18575685, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679102.7223399, "t_invocation_s": 18.198577004, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679102.7497947, "t_invocation_s": 18.226032352, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679102.7756712, "t_invocation_s": 18.251908824, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679102.7763278, "t_invocation_s": 18.252565113, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679103.2102287, "t_invocation_s": 18.686466107, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05752740893512964, "workspace_s": 0.21354191191494465, "objective_s": 0.005925135919824243, "stage_capture_s": 0.13147028698585927, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008370374096557498, "complete_s": 0.019237919012084603}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010623782873153687, "complete_s": 0.0002269598189741373}}, "total_s": 0.37057139491662383}, "object_springs": 18544, "controller_springs": 1104} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679103.7225287, "t_invocation_s": 19.198766084, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.053324125008657575, "workspace_s": 0.2950090409722179, "objective_s": 0.005669799167662859, "stage_capture_s": 0.12894189078360796, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007595388917252421, "complete_s": 0.01848377287387848}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010497309267520905, "complete_s": 0.00023717805743217468}}, "total_s": 0.4485282569658011}, "object_springs": 18544, "controller_springs": 1134} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679103.7277424, "t_invocation_s": 19.203979522, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679111.794494, "t_invocation_s": 27.270731287, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679111.807353, "t_invocation_s": 27.283590164, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679111.8344615, "t_invocation_s": 27.31069913, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679111.8616395, "t_invocation_s": 27.337877062, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679111.8623412, "t_invocation_s": 27.338578327, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679112.29389, "t_invocation_s": 27.770127429, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.058313160901889205, "workspace_s": 0.21553879790008068, "objective_s": 0.005791740026324987, "stage_capture_s": 0.12710806797258556, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007580097997561097, "complete_s": 0.018437823047861457}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.609502740204334e-05, "complete_s": 0.00023196497932076454}}, "total_s": 0.3672821100335568}, "object_springs": 18544, "controller_springs": 1142} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679112.803788, "t_invocation_s": 28.280025387, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.052715183002874255, "workspace_s": 0.2933621909469366, "objective_s": 0.005568163003772497, "stage_capture_s": 0.1285138891544193, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007809225935488939, "complete_s": 0.018682333873584867}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010230904445052147, "complete_s": 0.00022817403078079224}}, "total_s": 0.44654267304576933}, "object_springs": 18544, "controller_springs": 1177} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679112.808976, "t_invocation_s": 28.28521297, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679120.8848412, "t_invocation_s": 36.361078396, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679120.8974729, "t_invocation_s": 36.373709819, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679120.9280431, "t_invocation_s": 36.404280273, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679120.95859, "t_invocation_s": 36.434827264, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679120.9594266, "t_invocation_s": 36.435663573, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679121.3809114, "t_invocation_s": 36.857148547, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05695300316438079, "workspace_s": 0.20793431112542748, "objective_s": 0.0056936468463391066, "stage_capture_s": 0.12577184615656734, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00781372794881463, "complete_s": 0.01868490595370531}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010237912647426128, "complete_s": 0.00022507808171212673}}, "total_s": 0.358513938030228}, "object_springs": 18544, "controller_springs": 1145} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679121.8919253, "t_invocation_s": 37.368162644, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05084874993190169, "workspace_s": 0.29701225901953876, "objective_s": 0.005827972898259759, "stage_capture_s": 0.1288140481337905, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.006998182041570544, "complete_s": 0.017898496007546782}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010397401638329029, "complete_s": 0.00024336017668247223}}, "total_s": 0.4499746828805655}, "object_springs": 18544, "controller_springs": 1159} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679121.8970687, "t_invocation_s": 37.373305978, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679129.9631658, "t_invocation_s": 45.439403071, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679129.9759417, "t_invocation_s": 45.45217879, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679130.0039816, "t_invocation_s": 45.480219133, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679130.0313108, "t_invocation_s": 45.507548684, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679130.0323293, "t_invocation_s": 45.508566452, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679130.4539952, "t_invocation_s": 45.93023266, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05576997296884656, "workspace_s": 0.20740890689194202, "objective_s": 0.00579657987691462, "stage_capture_s": 0.12784108519554138, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007626733044162393, "complete_s": 0.018496130127459764}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.000136449933052063, "complete_s": 0.00027281208895146847}}, "total_s": 0.36005844990722835}, "object_springs": 18544, "controller_springs": 1136} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679130.4592867, "t_invocation_s": 45.93552398, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679136.1160157, "t_invocation_s": 51.592253215, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679136.1212113, "t_invocation_s": 51.597448454, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679136.1508532, "t_invocation_s": 51.627090524, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791679136.1529734, "t_invocation_s": 51.629210513, "generation": 116, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 1113} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..850ef95bb4bc080e13c511b2ed80f8cf2bcdf8b5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0bcedc9fa7fcb6c6fb20eefaf0cb45868e8fdd0259d31c279e063e94f6db247 +size 31461 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..8aaaaaa8c4d4a68316755a439eb039c0a2fc29e7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b95612f066f4e9e3d3f6ca86cfaa24869a992dda9606985f7aac1436585bede +size 28177 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/told.json new file mode 100644 index 0000000000000000000000000000000000000000..feeb2266ae19bab682a9688419223cbc1ba14b5c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g116/told.json @@ -0,0 +1,60 @@ +{ + "generation": 116, + "told_scores": [ + 0.0008563321226369163, + 0.0008567875564173519, + 0.0008611591177801185, + 0.000871822629684664, + 0.0008789057401909877, + 0.0008555856224409325, + 0.0008608578859182082, + 0.0008588743253340499, + 0.0008589240652769842, + 0.0008568088268125459, + 0.0008561470581511654 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 1287, + "told_asks_total": 1287, + "champion": { + "generation": 101, + "ask_index": 2, + "global_ask_index": 1113, + "score": 0.0008540191302832801, + "observation_score": 0.0004936205652647209, + "normalized": [ + 0.41136633988458987, + 0.9837964656684823, + 0.9999553566842329, + 0.5066780286067012, + 0.8603335329551995, + 0.7973120583566321, + 0.3057286571837764, + 0.551040961271233, + 0.17501148935136496, + 0.852615968146098, + 0.9999988519016245, + 0.9921895621772077 + ], + "settings": { + "spring_y": 41136.63398845899, + "object_radius_m": 0.0493518586267393, + "object_max_neighbours": 49, + "controller_radius_m": 0.04546746200246909, + "controller_max_neighbours": 70, + "ground_restitution": 0.7973120583566321, + "ground_friction": 0.6114573143675528, + "object_restitution": 0.551040961271233, + "object_friction": 0.3500229787027299, + "collision_distance_m": 0.04410463872584392, + "drag_damping": 19.99997703803249, + "dashpot_damping": 198.43791243544155 + } + }, + "pycma": { + "countiter": 117, + "countevals": 1287, + "sigma": 0.00994495048723567 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..b0f5bfde9c9f38d3c3a8a954d987d7459d63e894 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69b855381d4382bcd02aa5b4af8daea21547f64eb5c1fd3d059f8c1b3c6ff389 +size 88638 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..b89fcd824fea945ffcf89efa76bb531660e88ce1 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fb6159f99fe7abfa69e273a7a88e1a9aede4dc6c557d611ba855654c07f4b86 +size 397024 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ce8aa89f7fe9ace98c52bbf98d864ca64dc057cc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 0, + "global_ask_index": 1287, + "normalized": [ + 0.4100660324366718, + 0.9776407529899378, + 0.9995161040125595, + 0.5090250300666905, + 0.8493796801780414, + 0.7995824740049329, + 0.25712123592348696, + 0.5679581722794106, + 0.19581549384467806, + 0.8590070252867504, + 0.9998678762894044, + 0.9916254885854043 + ], + "settings": { + "spring_y": 41006.60324366718, + "object_radius_m": 0.04910563011959752, + "object_max_neighbours": 49, + "controller_radius_m": 0.04563175210466834, + "controller_max_neighbours": 69, + "ground_restitution": 0.7995824740049329, + "ground_friction": 0.5142424718469739, + "object_restitution": 0.5679581722794106, + "object_friction": 0.3916309876893561, + "collision_distance_m": 0.04436028101147002, + "drag_damping": 19.99735752578809, + "dashpot_damping": 198.32509771708087 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1153, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045628588646650314 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 657, + "hand_B": 496 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.059626982081681, + "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": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05491745611652732, + "workspace_s": 0.2801187690347433, + "objective_s": 0.005748846102505922, + "stage_capture_s": 0.1262119859457016, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00759832002222538, + "complete_s": 0.018468246096745133 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.121815674006939e-05, + "complete_s": 0.0002187490463256836 + } + }, + "total_s": 0.4309326291549951 + } + } + }, + "wall_time_s": 8.979631748050451, + "outcome": "finite", + "score": 0.0008580914315982871, + "tell_score": 0.0008580914315982871, + "observation_score": 0.0004986601429802931, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4058273cba09b98a9bda15e14100303a5b1c63a8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc6d1df2996edadcfb5cd42f072cb77e7d29b7f560b9192b144c8d713b9e807d +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..009b89ec05e5556cddb76a95bd4950733fd0661d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d17124f9d51e0008811f10bc4c3cef1ee5a1a329a2ccc9f4578e88fdc94ea82 +size 88578 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b4df4f1f001eb03ff9a2a676e174f6f3fa9696d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7432382610b8efcbbffba64fa3d65c4ebe27d7c9ebf57f3604f3b22093e87388 +size 396784 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6654f4ac334428909fee428cc8efe11b14bf8f --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 1, + "global_ask_index": 1288, + "normalized": [ + 0.4117655154065706, + 0.9789671021385434, + 0.9999245431532856, + 0.5077583682132091, + 0.8508678069074731, + 0.8056651524280203, + 0.2883523793159393, + 0.5647666841404053, + 0.20936532636432956, + 0.8781277564864755, + 0.9999091990812272, + 0.9860889182994562 + ], + "settings": { + "spring_y": 41176.551540657056, + "object_radius_m": 0.04915868408554174, + "object_max_neighbours": 49, + "controller_radius_m": 0.04554308577492464, + "controller_max_neighbours": 69, + "ground_restitution": 0.8056651524280203, + "ground_friction": 0.5767047586318786, + "object_restitution": 0.5647666841404053, + "object_friction": 0.4187306527286591, + "collision_distance_m": 0.04512511025945902, + "drag_damping": 19.998183981624543, + "dashpot_damping": 197.21778365989124 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1141, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045529358088970184 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 220, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 649, + "hand_B": 492 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.059626982081681, + "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": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0502021349966526, + "workspace_s": 0.20538725703954697, + "objective_s": 0.005820514867082238, + "stage_capture_s": 0.1303774220868945, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007494522025808692, + "complete_s": 0.018375014886260033 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011853617615997791, + "complete_s": 0.0002536692190915346 + } + }, + "total_s": 0.36038074688985944 + } + } + }, + "wall_time_s": 8.496238668914884, + "outcome": "finite", + "score": 0.0008605094081367738, + "tell_score": 0.0008605094081367738, + "observation_score": 0.0004998388174688207, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..249481f240fc771a3ef67f4d21755fe6520f6b8e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbb2642445e9f370575426408f724e2c920583751eadac2d63543c6a3eda149f +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..78b315bad4eff8afb65381bac6eadea98da865ab --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e663070f52b3a51c35d84b69f620356d0cea32db12a1772468935dbb78028711 +size 88650 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c382da406d4fbf306161e53080729912878ed2ae --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50196017533e14e67e28235f6a2fd3f47e5ec7ae240e6e93afb405314ddf68ee +size 397108 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..dd5829c558f8ef8147b9652c721f234822b030cd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 2, + "global_ask_index": 1289, + "normalized": [ + 0.4062044596471223, + 0.9646530691530892, + 0.9999996060904726, + 0.5097270020447164, + 0.8537160980586066, + 0.7952395944951605, + 0.29495651952971946, + 0.5723333515910711, + 0.21990621278153824, + 0.8904918235471552, + 0.9999210783102089, + 0.9830641101658057 + ], + "settings": { + "spring_y": 40620.445964712235, + "object_radius_m": 0.04858612276612357, + "object_max_neighbours": 49, + "controller_radius_m": 0.045680890143130155, + "controller_max_neighbours": 69, + "ground_restitution": 0.7952395944951605, + "ground_friction": 0.5899130390594389, + "object_restitution": 0.5723333515910711, + "object_friction": 0.4398124255630765, + "collision_distance_m": 0.04561967294188621, + "drag_damping": 19.99842156620418, + "dashpot_damping": 196.61282203316114 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1157, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04567700996994972 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 660, + "hand_B": 497 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.052818867145106, + "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": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.13613569806329906, + "workspace_s": 0.2137799789197743, + "objective_s": 0.005882232915610075, + "stage_capture_s": 0.1317968221846968, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008025648072361946, + "complete_s": 0.018891229992732406 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.968806989490986e-05, + "complete_s": 0.00021644309163093567 + } + }, + "total_s": 0.3707338008098304 + } + } + }, + "wall_time_s": 9.097053832141683, + "outcome": "finite", + "score": 0.0008571197017040977, + "tell_score": 0.0008571197017040977, + "observation_score": 0.0004992481896978834, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..d4f2ebc7a045bd0fd83671271595a9795e0fbf80 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45ff1077ff64eca079e1f78cf37a621821baf288dbcf2d073efcff0a322c7a39 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..92bb44c9554c00a8b8e67a948ebc3a2b8d4118e6 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce5eb91f1fc25cf272991b2f81c18d88b40218421a7237967d41e3ca2a697e45 +size 88606 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..2efd6f0a56abc618fa1e67fbc8378c1fdcf25fcc --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfafeb21ac27f58c31736a58a91c5545227141864aaf274c3afb7247b4174606 +size 396960 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbed1f3660505a3c7d470d5eefa6ed3de8afc57 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 3, + "global_ask_index": 1290, + "normalized": [ + 0.4096340474809713, + 0.9792891305375575, + 0.9998373887152056, + 0.5083927090573069, + 0.857469715583598, + 0.7949990408129886, + 0.2911002092774068, + 0.5689295623031981, + 0.16905004121687206, + 0.8770788490800964, + 0.9998282008625576, + 0.9852404760556338 + ], + "settings": { + "spring_y": 40963.404748097135, + "object_radius_m": 0.0491715652215023, + "object_max_neighbours": 49, + "controller_radius_m": 0.04558748963401149, + "controller_max_neighbours": 70, + "ground_restitution": 0.7949990408129886, + "ground_friction": 0.5822004185548136, + "object_restitution": 0.5689295623031981, + "object_friction": 0.3381000824337441, + "collision_distance_m": 0.04508315396320386, + "drag_damping": 19.996564017251153, + "dashpot_damping": 197.04809521112676 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1150, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04557614028453827 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 222, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 654, + "hand_B": 496 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.052818867145106, + "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": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.0536248660646379, + "workspace_s": 0.21750020398758352, + "objective_s": 0.005909004947170615, + "stage_capture_s": 0.21752681699581444, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007777400081977248, + "complete_s": 0.018656597938388586 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010796310380101204, + "complete_s": 0.00023183994926512241 + } + }, + "total_s": 0.459985860157758 + } + } + }, + "wall_time_s": 8.592651495942846, + "outcome": "finite", + "score": 0.0008625087251850212, + "tell_score": 0.0008625087251850212, + "observation_score": 0.0004994538076969514, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..6fe3aa05c34fcc0fae0f079837b35963ed5ac643 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f4effbf167270043e8c1b9d45585e283370d45f2b38c07db69f526914fb7900 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..ce9c27e822e8c86087e5ae30f66d92e0a2cebc8e --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bba9ceddedabd002d9523196e5de11d516414d344d0a66eed31f83b6ceff7b23 +size 88490 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..861b822de5714f2e94bafd68a8a499aa756c7b6b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43a9db59c2059d8c696d227067246853e563e1733bd3764234233a06aeaa357c +size 396572 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..d14f4200666ca25f627ab9def7c350cd1fd48255 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 4, + "global_ask_index": 1291, + "normalized": [ + 0.4057075294304684, + 0.9697735516695078, + 0.9999878354089111, + 0.5061697823142662, + 0.8570026939760926, + 0.8006341006054344, + 0.25739889242411923, + 0.56453437773783, + 0.2020469434257551, + 0.8621050357388335, + 0.9994688070251866, + 0.9905019178007454 + ], + "settings": { + "spring_y": 40570.75294304684, + "object_radius_m": 0.048790942066780314, + "object_max_neighbours": 49, + "controller_radius_m": 0.045431884761998644, + "controller_max_neighbours": 69, + "ground_restitution": 0.8006341006054344, + "ground_friction": 0.5147977848482385, + "object_restitution": 0.56453437773783, + "object_friction": 0.4040938868515102, + "collision_distance_m": 0.04448420142955334, + "drag_damping": 19.989376140503733, + "dashpot_damping": 198.10038356014908 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1130, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04538724198937416 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 218, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 644, + "hand_B": 486 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.046357915038243, + "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": 0.05669213994406164, + "workspace_s": 0.21084620407782495, + "objective_s": 0.006242254050448537, + "stage_capture_s": 0.12995701399631798, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008229888044297695, + "complete_s": 0.019101280951872468 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.0001006019301712513, + "complete_s": 0.00021962588652968407 + } + }, + "total_s": 0.3665296870749444 + } + } + }, + "wall_time_s": 9.003917352994904, + "outcome": "finite", + "score": 0.0008582279402698635, + "tell_score": 0.0008582279402698635, + "observation_score": 0.0004973265806178879, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..6595f089b7486309fb8d4358f562d23c4c0dfc24 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26ffdfed8d0f05e30af4e09351772bec45e31359a9bf25afc09403732492a73f +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..72edad0961e595d5c2d29f64bda7bba5728e97b7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b533dcef711a9cf810dcd94a5130ebf282f8fb48b69af3594c7b5041897248fe +size 88634 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1f2589f8d457671bb366bd1199e72301700bd8c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b11221772edc1909373a8ec3159ee618e208f5c5419ee78082f565ad4a509a50 +size 397104 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..67869b2809516746eeb724f709ff4b63fc001657 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 5, + "global_ask_index": 1292, + "normalized": [ + 0.4085665072759289, + 0.9803278524785791, + 0.9998664994682342, + 0.5099237573037075, + 0.8453295449620245, + 0.7872778615873685, + 0.25215562648130635, + 0.5642452504477509, + 0.1761246934465765, + 0.8700987724795656, + 0.9999622518148749, + 0.989014570562642 + ], + "settings": { + "spring_y": 40856.65072759289, + "object_radius_m": 0.04921311409914317, + "object_max_neighbours": 49, + "controller_radius_m": 0.04569466301125953, + "controller_max_neighbours": 69, + "ground_restitution": 0.7872778615873685, + "ground_friction": 0.5043112529626127, + "object_restitution": 0.5642452504477509, + "object_friction": 0.352249386893153, + "collision_distance_m": 0.044803950899182626, + "drag_damping": 19.9992450362975, + "dashpot_damping": 197.80291411252838 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1157, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04567700996994972 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 660, + "hand_B": 497 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.046357915038243, + "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": 0.0525764049962163, + "workspace_s": 0.30470917001366615, + "objective_s": 0.005841410951688886, + "stage_capture_s": 0.12910140305757523, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007453676080331206, + "complete_s": 0.018333554966375232 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010532489977777004, + "complete_s": 0.00023489096201956272 + } + }, + "total_s": 0.4583921330049634 + } + } + }, + "wall_time_s": 8.583294196985662, + "outcome": "finite", + "score": 0.0008566754904288519, + "tell_score": 0.0008566754904288519, + "observation_score": 0.0004987011401859054, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..3caa250657821f2877f3507e9af02059f1d29c86 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8723c91c71c4a8beda1fde6014d36430c01ff63717c3b248c803dde556b5b392 +size 2528894 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..b6db86d75fdb2c57cc7512320a7293b2fcfdd4a1 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a180ed4395b9b5da17dcde11709c5c3c0725ef6b977eb183d9081f01bd1a54f +size 88626 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..a796c207b068e9c25d35a86dc9ef32c6f15d8a41 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef09fc7400b20d7604f5ab946c5184d14d8565d4a0913d7caea0d21928b75f9a +size 396964 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..ee8b21ffb633b509a44d099eb3addbe4754acbf0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 6, + "global_ask_index": 1293, + "normalized": [ + 0.4130679350113746, + 0.9739505775603049, + 0.9999687184626225, + 0.5083382087565456, + 0.8704028738927839, + 0.7840986258286755, + 0.29595874948618794, + 0.5667272855452733, + 0.20524497540224246, + 0.8693371960293023, + 0.9999766026288449, + 0.9832344816510994 + ], + "settings": { + "spring_y": 41306.793501137465, + "object_radius_m": 0.0489580231024122, + "object_max_neighbours": 49, + "controller_radius_m": 0.045583674612958196, + "controller_max_neighbours": 70, + "ground_restitution": 0.7840986258286755, + "ground_friction": 0.5919174989723759, + "object_restitution": 0.5667272855452733, + "object_friction": 0.4104899508044849, + "collision_distance_m": 0.04477348784117209, + "drag_damping": 19.9995320525769, + "dashpot_damping": 196.64689633021987 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1150, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04557614028453827 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 222, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 654, + "hand_B": 496 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.051839787978679, + "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": 0.056458392878994346, + "workspace_s": 0.21228416985832155, + "objective_s": 0.005830311216413975, + "stage_capture_s": 0.139117217855528, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.009733346989378333, + "complete_s": 0.020590406842529774 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011527794413268566, + "complete_s": 0.00026125507429242134 + } + }, + "total_s": 0.37828854098916054 + } + } + }, + "wall_time_s": 9.024537757970393, + "outcome": "finite", + "score": 0.0008622040778759852, + "tell_score": 0.0008622040778759852, + "observation_score": 0.000498687476485796, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..2efbd86959da7878c6ae1da879700297cad6b0c8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9de8e38283a87dfc7b45e56a9f4f05f511c88f7bc245a0a5ba823e79369ea9ff +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..7edc2c642a1c88cf9102d4b50885d7a51073497b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78e45f323e27954832decc99dd9f9162e0cfac9fffc9f602a748a87552c994be +size 88614 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c9545696e913e9b4eab572d6c3dcbf499442d10b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1353a89911ed6281c1ae4f8fddbaeaa30e4d14e9d310e2571e591e3e42f41a39 +size 396904 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..dffed9dc461c40297d575cf6b142cabc44d38bab --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 7, + "global_ask_index": 1294, + "normalized": [ + 0.4104005815846314, + 0.9761429927720104, + 0.9999947696045617, + 0.5087258606888769, + 0.8569050582161789, + 0.7928604634115746, + 0.2704451030389769, + 0.5675523044706637, + 0.1744181666027837, + 0.8838059147713265, + 0.9998004729440374, + 0.9778170086101126 + ], + "settings": { + "spring_y": 41040.058158463136, + "object_radius_m": 0.04904571971088042, + "object_max_neighbours": 49, + "controller_radius_m": 0.04561081024822139, + "controller_max_neighbours": 69, + "ground_restitution": 0.7928604634115746, + "ground_friction": 0.5408902060779538, + "object_restitution": 0.5675523044706637, + "object_friction": 0.3488363332055674, + "collision_distance_m": 0.045352236590853065, + "drag_damping": 19.99600945888075, + "dashpot_damping": 195.56340172202252 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1147, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04559044912457466 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 651, + "hand_B": 496 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.051839787978679, + "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": 0.06637661508284509, + "workspace_s": 0.2961333249695599, + "objective_s": 0.005899242823943496, + "stage_capture_s": 0.1264141360297799, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00755286798812449, + "complete_s": 0.018446143018081784 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011293892748653889, + "complete_s": 0.0002883390989154577 + } + }, + "total_s": 0.4473696858622134 + } + } + }, + "wall_time_s": 8.591821923153475, + "outcome": "finite", + "score": 0.0008613486481034301, + "tell_score": 0.0008613486481034301, + "observation_score": 0.0005001097732857098, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c93dcf1486224d60eb2b66243d6fad70e9c6ddf --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f58eec8df1024259433e5777f77b38fad857a2387a8d6d591847a4ddf2f0f79 +size 2528882 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..7661a77335d5865d39b51471f4e3cf4674025ac7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e5c33af6b776be66bbd2bdc15dd01b9194c321d0b5649eb633cae01b8c9d193 +size 88646 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..e67ef42de7b5890e48cc0ffdc3fd67fd8964d7a0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b02d0893c83ca740425916e99a17362a413fa03a7ff33ef9ef35e0fc015abb +size 397092 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..81b1fadbd1b6b574a4487a037b403fca52c8f44b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 8, + "global_ask_index": 1295, + "normalized": [ + 0.40777134475377125, + 0.9881212765953324, + 0.9999998275995704, + 0.508978577562997, + 0.861404918150753, + 0.7801577414290457, + 0.2847314028550683, + 0.5787690331934531, + 0.18684431441478902, + 0.8662363733799469, + 0.9999840729384613, + 0.9841674562176084 + ], + "settings": { + "spring_y": 40777.13447537713, + "object_radius_m": 0.049524851063813304, + "object_max_neighbours": 49, + "controller_radius_m": 0.045628500429409795, + "controller_max_neighbours": 70, + "ground_restitution": 0.7801577414290457, + "ground_friction": 0.5694628057101366, + "object_restitution": 0.5787690331934531, + "object_friction": 0.37368862882957804, + "collision_distance_m": 0.044649454935197876, + "drag_damping": 19.999681458769224, + "dashpot_damping": 196.83349124352168 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1156, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045627277344465256 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 222, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 660, + "hand_B": 496 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.030863353982568, + "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": 0.057088700123131275, + "workspace_s": 0.2077811372000724, + "objective_s": 0.0059372978284955025, + "stage_capture_s": 0.12584483809769154, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007582497084513307, + "complete_s": 0.018450941890478134 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.0001012070570141077, + "complete_s": 0.00027229893021285534 + } + }, + "total_s": 0.35846775211393833 + } + } + }, + "wall_time_s": 8.966680089011788, + "outcome": "finite", + "score": 0.0008574540884599854, + "tell_score": 0.0008574540884599854, + "observation_score": 0.0004967919227878407, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..39553e4b5d1805c4d8d27a52fa75b361417955dd --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1cb88127640c18d99d7abe6b349256fd1b60dcad3969ea3ea6ea8c956922a9 +size 2528906 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..06c812d1f6ec0bb7fde652788b02de4b9dd81a57 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37f4374db61c70e277ddd044d18ae6e45ef4aaab5a49997a346d3c0774c6ab80 +size 88786 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..bcb70cb692a6b5fca80fc2ebc350a31b6eba6aaa --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8b38f5ebae6ec648533a0095c38327636fe84a2ef13c368722bf8df0133fe60 +size 397808 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/record.json new file mode 100644 index 0000000000000000000000000000000000000000..4c7504a95bfb00321f08f60407cec4019b503796 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 9, + "global_ask_index": 1296, + "normalized": [ + 0.40973224016658905, + 0.9720306909988322, + 0.9999781193047549, + 0.5149521843528172, + 0.8630304634369437, + 0.7665865820400758, + 0.3157654391683919, + 0.5795422889572965, + 0.2128283229775455, + 0.9017726910767733, + 0.9999636761920939, + 0.9880133081032633 + ], + "settings": { + "spring_y": 40973.2240166589, + "object_radius_m": 0.04888122763995329, + "object_max_neighbours": 49, + "controller_radius_m": 0.046046652904697206, + "controller_max_neighbours": 70, + "ground_restitution": 0.7665865820400758, + "ground_friction": 0.6315308783367838, + "object_restitution": 0.5795422889572965, + "object_friction": 0.425656645955091, + "collision_distance_m": 0.04607090764307093, + "drag_damping": 19.99927352384188, + "dashpot_damping": 197.60266162065264 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1192, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04602840170264244 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 222, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 676, + "hand_B": 516 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.030863353982568, + "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": 0.050501547986641526, + "workspace_s": 0.2951341869775206, + "objective_s": 0.005745783913880587, + "stage_capture_s": 0.1263587661087513, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007514388998970389, + "complete_s": 0.018372004153206944 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.813089855015278e-05, + "complete_s": 0.0002521788701415062 + } + }, + "total_s": 0.4460425719153136 + } + } + }, + "wall_time_s": 8.553928234847263, + "outcome": "finite", + "score": 0.0008620684213657501, + "tell_score": 0.0008620684213657501, + "observation_score": 0.000501306481005495, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..be1103302cfd7561c3678b75f58458c826903d3d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a09/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5a899eae4c3b773f14485b5baa4515696f0c83e6bc85bd74729f7565ba52f6a +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..243ecfbb6cc08f9524a89a0c3890d8e3f28af1cb --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:781476942e753784d797a237b9826635b4f0be6841e3aec5313b76387127d359 +size 88494 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..fdd0375f746b7220967e4aa889ac1d49d8d225a3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e75ec91320d2ec6cb8111c55123635edb3cf16a38296a482cf596e197f7a62a +size 396464 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/record.json new file mode 100644 index 0000000000000000000000000000000000000000..428cfaea1968908eb2c7bf83742353a6714e5e64 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/record.json @@ -0,0 +1,148 @@ +{ + "stage": "cma_ask", + "generation": 117, + "ask_index": 10, + "global_ask_index": 1297, + "normalized": [ + 0.41035884113173876, + 0.9779343553877642, + 0.9999858281069804, + 0.5047223909259951, + 0.8619665496994383, + 0.7960221613288426, + 0.2865590707939494, + 0.5476869733476215, + 0.18177960401235116, + 0.8736740962098174, + 0.9999940217490213, + 0.9855619881404666 + ], + "settings": { + "spring_y": 41035.88411317387, + "object_radius_m": 0.04911737421551057, + "object_max_neighbours": 49, + "controller_radius_m": 0.04533056736481966, + "controller_max_neighbours": 70, + "ground_restitution": 0.7960221613288426, + "ground_friction": 0.5731181415878988, + "object_restitution": 0.5476869733476215, + "object_friction": 0.3635592080247023, + "collision_distance_m": 0.044946963848392696, + "drag_damping": 19.999880434980426, + "dashpot_damping": 197.1123976280933 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1125, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045327793806791306 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 219, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 644, + "hand_B": 481 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 5.647356228902936, + "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": 0.05691903899423778, + "workspace_s": 0.20564313000068069, + "objective_s": 0.005681781098246574, + "stage_capture_s": 0.12465017987415195, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00734744593501091, + "complete_s": 0.01821769098751247 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00011036684736609459, + "complete_s": 0.00023928703740239143 + } + }, + "total_s": 0.35460423002950847 + } + } + }, + "wall_time_s": 6.071870028972626, + "outcome": "finite", + "score": 0.0008668323101576839, + "tell_score": 0.0008668323101576839, + "observation_score": 0.0005022298480243453, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..42893b3207bfcc6b09548e82ae6e20c19e771fdf --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/a10/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23f9beb003c295bc70f2fad6d25ea6a8666aab8c58a641544938c6adf9634a34 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/issued.npy b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/issued.npy new file mode 100644 index 0000000000000000000000000000000000000000..5b313488d73bc1687903bbfcc4e1a0985c9f3291 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/issued.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e89db79263f69f0af579701e99a25e46a55b638a1905ba7fe2c53937b0de0337 +size 1184 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/lifecycle.jsonl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/lifecycle.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb26da02056e9fc71c35ea2e9db03dfcd2581f09 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/lifecycle.jsonl @@ -0,0 +1,48 @@ +{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791679136.1550536, "t_invocation_s": 0.000118509, "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": 1791679136.155673, "t_invocation_s": 0.000738034, "wave": 0, "members": [0, 1], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679136.6472492, "t_invocation_s": 0.492314414, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05491745611652732, "workspace_s": 0.2801187690347433, "objective_s": 0.005748846102505922, "stage_capture_s": 0.1262119859457016, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00759832002222538, "complete_s": 0.018468246096745133}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.121815674006939e-05, "complete_s": 0.0002187490463256836}}, "total_s": 0.4309326291549951}, "object_springs": 18544, "controller_springs": 1153} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679137.0681567, "t_invocation_s": 0.913221874, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.0502021349966526, "workspace_s": 0.20538725703954697, "objective_s": 0.005820514867082238, "stage_capture_s": 0.1303774220868945, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007494522025808692, "complete_s": 0.018375014886260033}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011853617615997791, "complete_s": 0.0002536692190915346}}, "total_s": 0.36038074688985944}, "object_springs": 18544, "controller_springs": 1141} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679137.073431, "t_invocation_s": 0.918496016, "wave": 0, "members": [0, 1]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679145.1416903, "t_invocation_s": 8.986755469, "wave": 0, "index": 0, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679145.1542447, "t_invocation_s": 8.999309569, "wave": 0, "index": 1, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679145.1852124, "t_invocation_s": 9.030277988, "wave": 0, "drained": {"0": "drained", "1": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679145.2132618, "t_invocation_s": 9.058327109, "wave": 0, "commit_order": [0, 1]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679145.2139714, "t_invocation_s": 9.059036538, "wave": 1, "members": [2, 3], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679145.7265246, "t_invocation_s": 9.571590047, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.13613569806329906, "workspace_s": 0.2137799789197743, "objective_s": 0.005882232915610075, "stage_capture_s": 0.1317968221846968, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008025648072361946, "complete_s": 0.018891229992732406}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.968806989490986e-05, "complete_s": 0.00021644309163093567}}, "total_s": 0.3707338008098304}, "object_springs": 18544, "controller_springs": 1157} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679146.2509484, "t_invocation_s": 10.09601356, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.0536248660646379, "workspace_s": 0.21750020398758352, "objective_s": 0.005909004947170615, "stage_capture_s": 0.21752681699581444, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007777400081977248, "complete_s": 0.018656597938388586}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010796310380101204, "complete_s": 0.00023183994926512241}}, "total_s": 0.459985860157758}, "object_springs": 18544, "controller_springs": 1150} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679146.256132, "t_invocation_s": 10.101196926, "wave": 1, "members": [2, 3]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679154.3172812, "t_invocation_s": 18.16234672, "wave": 1, "index": 2, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679154.3300052, "t_invocation_s": 18.175070226, "wave": 1, "index": 3, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679154.3565762, "t_invocation_s": 18.201641758, "wave": 1, "drained": {"2": "drained", "3": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679154.3830712, "t_invocation_s": 18.228136865, "wave": 1, "commit_order": [2, 3]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679154.3839223, "t_invocation_s": 18.228987448, "wave": 2, "members": [4, 5], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679154.8128295, "t_invocation_s": 18.657894793, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05669213994406164, "workspace_s": 0.21084620407782495, "objective_s": 0.006242254050448537, "stage_capture_s": 0.12995701399631798, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008229888044297695, "complete_s": 0.019101280951872468}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001006019301712513, "complete_s": 0.00021962588652968407}}, "total_s": 0.3665296870749444}, "object_springs": 18544, "controller_springs": 1130} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679155.3341217, "t_invocation_s": 19.179186921, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.0525764049962163, "workspace_s": 0.30470917001366615, "objective_s": 0.005841410951688886, "stage_capture_s": 0.12910140305757523, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007453676080331206, "complete_s": 0.018333554966375232}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010532489977777004, "complete_s": 0.00023489096201956272}}, "total_s": 0.4583921330049634}, "object_springs": 18544, "controller_springs": 1157} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679155.3393767, "t_invocation_s": 19.184441748, "wave": 2, "members": [4, 5]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679163.3941793, "t_invocation_s": 27.239244611, "wave": 2, "index": 4, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679163.4067626, "t_invocation_s": 27.251827557, "wave": 2, "index": 5, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679163.4340074, "t_invocation_s": 27.279072956, "wave": 2, "drained": {"4": "drained", "5": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679163.4600427, "t_invocation_s": 27.305108199, "wave": 2, "commit_order": [4, 5]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679163.4609218, "t_invocation_s": 27.305986944, "wave": 3, "members": [6, 7], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679163.9013681, "t_invocation_s": 27.746433386, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.056458392878994346, "workspace_s": 0.21228416985832155, "objective_s": 0.005830311216413975, "stage_capture_s": 0.139117217855528, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.009733346989378333, "complete_s": 0.020590406842529774}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011527794413268566, "complete_s": 0.00026125507429242134}}, "total_s": 0.37828854098916054}, "object_springs": 18544, "controller_springs": 1150} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679164.4265285, "t_invocation_s": 28.271593743, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.06637661508284509, "workspace_s": 0.2961333249695599, "objective_s": 0.005899242823943496, "stage_capture_s": 0.1264141360297799, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00755286798812449, "complete_s": 0.018446143018081784}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011293892748653889, "complete_s": 0.0002883390989154577}}, "total_s": 0.4473696858622134}, "object_springs": 18544, "controller_springs": 1147} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679164.431649, "t_invocation_s": 28.276713935, "wave": 3, "members": [6, 7]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679172.4921155, "t_invocation_s": 36.337180641, "wave": 3, "index": 6, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679172.5050485, "t_invocation_s": 36.350113592, "wave": 3, "index": 7, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679172.5324395, "t_invocation_s": 36.377505103, "wave": 3, "drained": {"6": "drained", "7": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679172.5605726, "t_invocation_s": 36.405638169, "wave": 3, "commit_order": [6, 7]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679172.5613258, "t_invocation_s": 36.406390872, "wave": 4, "members": [8, 9], "occupancy": 2} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679172.9828532, "t_invocation_s": 36.82791851, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.057088700123131275, "workspace_s": 0.2077811372000724, "objective_s": 0.0059372978284955025, "stage_capture_s": 0.12584483809769154, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007582497084513307, "complete_s": 0.018450941890478134}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001012070570141077, "complete_s": 0.00027229893021285534}}, "total_s": 0.35846775211393833}, "object_springs": 18544, "controller_springs": 1156} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679173.4896905, "t_invocation_s": 37.334755854, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.050501547986641526, "workspace_s": 0.2951341869775206, "objective_s": 0.005745783913880587, "stage_capture_s": 0.1263587661087513, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007514388998970389, "complete_s": 0.018372004153206944}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.813089855015278e-05, "complete_s": 0.0002521788701415062}}, "total_s": 0.4460425719153136}, "object_springs": 18544, "controller_springs": 1192} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679173.4948828, "t_invocation_s": 37.339947863, "wave": 4, "members": [8, 9]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679181.5344865, "t_invocation_s": 45.379551988, "wave": 4, "index": 8, "arrival": 0} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679181.548115, "t_invocation_s": 45.393180076, "wave": 4, "index": 9, "arrival": 1} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679181.5793962, "t_invocation_s": 45.424461848, "wave": 4, "drained": {"8": "drained", "9": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679181.6100812, "t_invocation_s": 45.455146594, "wave": 4, "commit_order": [8, 9]} +{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791679181.6108792, "t_invocation_s": 45.455944143, "wave": 5, "members": [10], "occupancy": 1} +{"invocation": 1, "kind": "prepared", "t_unix_s": 1791679182.0280304, "t_invocation_s": 45.873095744, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05691903899423778, "workspace_s": 0.20564313000068069, "objective_s": 0.005681781098246574, "stage_capture_s": 0.12465017987415195, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00734744593501091, "complete_s": 0.01821769098751247}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011036684736609459, "complete_s": 0.00023928703740239143}}, "total_s": 0.35460423002950847}, "object_springs": 18544, "controller_springs": 1125} +{"invocation": 1, "kind": "resident", "t_unix_s": 1791679182.0332537, "t_invocation_s": 45.878318614, "wave": 5, "members": [10]} +{"invocation": 1, "kind": "commit", "t_unix_s": 1791679187.6891217, "t_invocation_s": 51.534187148, "wave": 5, "index": 10, "arrival": 0} +{"invocation": 1, "kind": "released", "t_unix_s": 1791679187.6942804, "t_invocation_s": 51.539345475, "wave": 5, "drained": {"10": "drained"}} +{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791679187.7205138, "t_invocation_s": 51.565579225, "wave": 5, "commit_order": [10]} +{"invocation": 1, "kind": "told", "t_unix_s": 1791679187.7224789, "t_invocation_s": 51.567544084, "generation": 117, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 1113} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_ask.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_ask.pkl new file mode 100644 index 0000000000000000000000000000000000000000..a9779cde745d0343fcbc868bf25e52896af3f119 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_ask.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f74d2eafff31dd4751b865f33911e993fa762bbb6135c00b33fc373e23335ac +size 31461 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_tell.pkl b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_tell.pkl new file mode 100644 index 0000000000000000000000000000000000000000..94a09d9ea14706a47b2b57b919230d5e3a11f682 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/strategy_after_tell.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71164a43ba455f23121079c5477fa1cc8c93fc245258374b793fbce4034a1b2d +size 28177 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/told.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/told.json new file mode 100644 index 0000000000000000000000000000000000000000..a539e5db5b98dadc68d8d2df5f13b8b2d841599b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g117/told.json @@ -0,0 +1,60 @@ +{ + "generation": 117, + "told_scores": [ + 0.0008580914315982871, + 0.0008605094081367738, + 0.0008571197017040977, + 0.0008625087251850212, + 0.0008582279402698635, + 0.0008566754904288519, + 0.0008622040778759852, + 0.0008613486481034301, + 0.0008574540884599854, + 0.0008620684213657501, + 0.0008668323101576839 + ], + "physical_failures": 0, + "physical_failures_total": 0, + "issued_asks_total": 1298, + "told_asks_total": 1298, + "champion": { + "generation": 101, + "ask_index": 2, + "global_ask_index": 1113, + "score": 0.0008540191302832801, + "observation_score": 0.0004936205652647209, + "normalized": [ + 0.41136633988458987, + 0.9837964656684823, + 0.9999553566842329, + 0.5066780286067012, + 0.8603335329551995, + 0.7973120583566321, + 0.3057286571837764, + 0.551040961271233, + 0.17501148935136496, + 0.852615968146098, + 0.9999988519016245, + 0.9921895621772077 + ], + "settings": { + "spring_y": 41136.63398845899, + "object_radius_m": 0.0493518586267393, + "object_max_neighbours": 49, + "controller_radius_m": 0.04546746200246909, + "controller_max_neighbours": 70, + "ground_restitution": 0.7973120583566321, + "ground_friction": 0.6114573143675528, + "object_restitution": 0.551040961271233, + "object_friction": 0.3500229787027299, + "collision_distance_m": 0.04410463872584392, + "drag_damping": 19.99997703803249, + "dashpot_damping": 198.43791243544155 + } + }, + "pycma": { + "countiter": 118, + "countevals": 1298, + "sigma": 0.009701009081612711 + } +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e5e48953b984f3ffcc18508fcf3e2bd390a222b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c156448b7aa2d201da3009c0d2a81c55fe8bc798ce97e18ba777612dae50676 +size 88626 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6058eb533aa529b98aad121866356e30c956765 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934abac23a833798dd7224ac79665ec8fa3f8cefc6510e93e233cf084648d40d +size 397064 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/record.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9bd61960088f39d355953fe2ebb5d54a67012b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 0, + "global_ask_index": 1298, + "normalized": [ + 0.4093260144915233, + 0.9816917368460027, + 0.9998985813708955, + 0.5093901527149798, + 0.8565968633758382, + 0.7713562707702802, + 0.2605527971433694, + 0.5695280256839462, + 0.1922210080567667, + 0.8718132600876637, + 0.9999643931046407, + 0.9903294257549772 + ], + "settings": { + "spring_y": 40932.60144915233, + "object_radius_m": 0.04926766947384011, + "object_max_neighbours": 49, + "controller_radius_m": 0.04565731069004859, + "controller_max_neighbours": 69, + "ground_restitution": 0.7713562707702802, + "ground_friction": 0.5211055942867387, + "object_restitution": 0.5695280256839462, + "object_friction": 0.3844420161135334, + "collision_distance_m": 0.04487253040350655, + "drag_damping": 19.999287862092814, + "dashpot_damping": 198.06588515099543 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1155, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04565625637769699 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 658, + "hand_B": 497 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.03574590710923, + "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": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.055428399005904794, + "workspace_s": 0.2818560858722776, + "objective_s": 0.005849295062944293, + "stage_capture_s": 0.13042706600390375, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007923434022814035, + "complete_s": 0.018786428961902857 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.532785043120384e-05, + "complete_s": 0.00022684503346681595 + } + }, + "total_s": 0.43733473191969097 + } + } + }, + "wall_time_s": 8.968141912017018, + "outcome": "finite", + "score": 0.000857684649286418, + "tell_score": 0.000857684649286418, + "observation_score": 0.0004985176372599538, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..0277bed6f863aa93e0c159a82f8131386694a152 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a00/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15a8088ef4a1727749318ba62d93ba56161dc3ee0c7283f028ea77c7d972703a +size 2528890 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..2fad9c33dfe47e68112285a1da878a6d964f44b8 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8140aca34c117d73681a1355dd26e869396faab90d64e14ed764eb0e772a773d +size 88710 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..ddb88a7c2e0759a410ce0f4d09394a97052ce9a9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60d55f9231618b6f8b4edcbe6f15c1abf5d34302fe558299c120168ec34a1a79 +size 397404 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/record.json new file mode 100644 index 0000000000000000000000000000000000000000..130e71f67331921c3c3008ed267bb9c22fdb1331 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 1, + "global_ask_index": 1299, + "normalized": [ + 0.4024782953456147, + 0.9730355094995042, + 0.9999904400567485, + 0.5118223879629432, + 0.85676623067616, + 0.8204424535201086, + 0.2907166095033134, + 0.5649070323253487, + 0.20334023815269098, + 0.8860547094369694, + 0.9998505408197378, + 0.9875792803786746 + ], + "settings": { + "spring_y": 40247.82953456147, + "object_radius_m": 0.04892142037998017, + "object_max_neighbours": 49, + "controller_radius_m": 0.04582756715740603, + "controller_max_neighbours": 69, + "ground_restitution": 0.8204424535201086, + "ground_friction": 0.5814332190066268, + "object_restitution": 0.5649070323253487, + "object_friction": 0.40668047630538195, + "collision_distance_m": 0.04544218837747878, + "drag_damping": 19.997010816394756, + "dashpot_damping": 197.51585607573492 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1172, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045826226472854614 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 664, + "hand_B": 508 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.03574590710923, + "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": 0, + "wave_members": [ + 0, + 1 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05267518479377031, + "workspace_s": 0.20766569999977946, + "objective_s": 0.005856479052454233, + "stage_capture_s": 0.1299674331676215, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007824889151379466, + "complete_s": 0.018685288028791547 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010752095840871334, + "complete_s": 0.00025680498220026493 + } + }, + "total_s": 0.3626044790726155 + } + } + }, + "wall_time_s": 8.478201155783609, + "outcome": "finite", + "score": 0.0008580240172873651, + "tell_score": 0.0008580240172873651, + "observation_score": 0.0005011083969863914, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..4656ce43cb59be568d9206bddc999ebfbe8f3f77 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a01/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adfaed665b8e4767de31f8b92a737c7b1d3b4d31cc2a3d8eb85e7a09bd24910c +size 2528886 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..0792731d88b3bdb990cabbc9e7d950f4fe7a8b38 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7906b8b74f4d5d57b9c5a7818e95a05514451e07281f878936aad315c6ede518 +size 88678 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..337859773fbe5a0fc819fc76cc118b4fc4e60548 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74c04ab97cf49e1cf472b033efc3cce5cfe3e8c3fcb371b6fa340927299d4aad +size 397264 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/record.json new file mode 100644 index 0000000000000000000000000000000000000000..f02685104f793eca2e922c0c82e15df800a8ee6c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 2, + "global_ask_index": 1300, + "normalized": [ + 0.404327273917586, + 0.9798811608532227, + 0.9999594255256554, + 0.5106653452789601, + 0.8479921942759144, + 0.7968665925236733, + 0.2797096233284323, + 0.5700027952240816, + 0.18658973451005673, + 0.8664635497111776, + 0.9999760143481763, + 0.9886445020653297 + ], + "settings": { + "spring_y": 40432.7273917586, + "object_radius_m": 0.04919524643412891, + "object_max_neighbours": 49, + "controller_radius_m": 0.04574657416952722, + "controller_max_neighbours": 69, + "ground_restitution": 0.7968665925236733, + "ground_friction": 0.5594192466568646, + "object_restitution": 0.5700027952240816, + "object_friction": 0.37317946902011345, + "collision_distance_m": 0.044658541988447105, + "drag_damping": 19.999520286963527, + "dashpot_damping": 197.72890041306596 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1165, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045738741755485535 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 662, + "hand_B": 503 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.058283628197387, + "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": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.055304463021457195, + "workspace_s": 0.28796651982702315, + "objective_s": 0.005711187142878771, + "stage_capture_s": 0.12437357101589441, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007992567028850317, + "complete_s": 0.018861331045627594 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010930607095360756, + "complete_s": 0.00025389320217072964 + } + }, + "total_s": 0.4373558268416673 + } + } + }, + "wall_time_s": 8.995124216889963, + "outcome": "finite", + "score": 0.0008608648432007339, + "tell_score": 0.0008608648432007339, + "observation_score": 0.0005009778776726982, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..7e201f3075b983cba2dbaf5c379a3626fe10f2fe --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a02/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00a06321366f6e60e997c487ec4c89c8dfebfbb130b9e9cb252eb01c90aabcc7 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..31ee0d3d240fcec23ff80f76cdd943846d72cd3c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ed8b85d2460ec3488bdb93df452409930c8e8eec07ddd566fc046013ed14e82 +size 88582 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c5f2cb0363980d671cd401af27822f22ad83a7d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42859913bc96820f3bb54df715eb253fa32346bd9f019267066dbb661043dc2f +size 396744 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/record.json new file mode 100644 index 0000000000000000000000000000000000000000..4c6cd85329fc33aa67cb486907149f62187d481b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 3, + "global_ask_index": 1301, + "normalized": [ + 0.40848385335714293, + 0.9723431381998607, + 0.999945827577413, + 0.5070691407348534, + 0.8593243860524988, + 0.7884179349786046, + 0.28140189784740466, + 0.5575480997606479, + 0.1886150546630673, + 0.8663761763245882, + 0.9999057135624845, + 0.9846669752795943 + ], + "settings": { + "spring_y": 40848.385335714294, + "object_radius_m": 0.04889372552799443, + "object_max_neighbours": 49, + "controller_radius_m": 0.04549483985143975, + "controller_max_neighbours": 70, + "ground_restitution": 0.7884179349786046, + "ground_friction": 0.5628037956948093, + "object_restitution": 0.5575480997606479, + "object_friction": 0.3772301093261346, + "collision_distance_m": 0.04465504705298353, + "drag_damping": 19.99811427124969, + "dashpot_damping": 196.93339505591888 + }, + "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": 8.058283628197387, + "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": 1, + "wave_members": [ + 2, + 3 + ], + "earlier_asks_pending_at_commit": [], + "preparation": { + "decode_topology_model_s": 0.05128441005945206, + "workspace_s": 0.2125529630575329, + "objective_s": 0.005850850138813257, + "stage_capture_s": 0.13187481393106282, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007910059997811913, + "complete_s": 0.01878670509904623 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.645102545619011e-05, + "complete_s": 0.0002114360686391592 + } + }, + "total_s": 0.3694420901592821 + } + } + }, + "wall_time_s": 8.505063307937235, + "outcome": "finite", + "score": 0.0008540131094950382, + "tell_score": 0.0008540131094950382, + "observation_score": 0.0004936339380450749, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": true +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..9496063d6281aff6d5cfb8c56f32aead1c3f94d7 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a03/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db7a538e9b83edce7f1442da6c5268d70f38179e059e0d142c0094e3d54f4d0e +size 11136918 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..e9cc1b1cd75ff0e1b5593ac23039ad36aff7ed25 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94ef236b4165d5ee40aead5ff197a177a340f0b991df2c5cfbcb7e92a528ad59 +size 88694 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e1922aa41787e78a92139e750cecc69925e890d --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94d0991d0a80d2fdf8fffd9c08deb0fc22d3d493a36a6439d48930b4aa7db07e +size 397304 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/record.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d80ae46a56e69aa724020f64634c5d5a08d7ec --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 4, + "global_ask_index": 1302, + "normalized": [ + 0.4143526883250285, + 0.9833984512357946, + 0.9999702597222602, + 0.5111121899647835, + 0.8557576263146557, + 0.7775667456508408, + 0.26948659087018073, + 0.5563464606035685, + 0.18974324393758815, + 0.8725064082377368, + 0.9999861127506879, + 0.9957024367448051 + ], + "settings": { + "spring_y": 41435.26883250285, + "object_radius_m": 0.04933593804943179, + "object_max_neighbours": 49, + "controller_radius_m": 0.04577785329753485, + "controller_max_neighbours": 69, + "ground_restitution": 0.7775667456508408, + "ground_friction": 0.5389731817403615, + "object_restitution": 0.5563464606035685, + "object_friction": 0.3794864878751763, + "collision_distance_m": 0.044900256329509475, + "drag_damping": 19.999722255013758, + "dashpot_damping": 199.14048734896102 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1167, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04576260223984718 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 663, + "hand_B": 504 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.143995499936864, + "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": 0.13281343900598586, + "workspace_s": 0.21423874888569117, + "objective_s": 0.006048638140782714, + "stage_capture_s": 0.12973186583258212, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.008164869155734777, + "complete_s": 0.019030932104215026 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010817497968673706, + "complete_s": 0.0002269421238452196 + } + }, + "total_s": 0.3694601939059794 + } + } + }, + "wall_time_s": 9.07811466907151, + "outcome": "finite", + "score": 0.0008600191959902377, + "tell_score": 0.0008600191959902377, + "observation_score": 0.0004988463496580216, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..e890c2757a811a820a2add28228f6bd064e78bd3 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a04/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa6df4465beac3763003e6c829f72413f066a05fea45350f698404fc981d6c73 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..e54cd050a808f46ac07539ce4938fe1eda33fb7c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7638704628a470f6a56862c10595591da9c9aa810ec632b3cfb8100fe6a83967 +size 88550 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1fa51c8b0bc3b8564408cbcc5f010cb22998751 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a8b09d7d25f32f987b71c33947521d9356ea2fc5d05a2480d3d4b12154abb8d +size 396568 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6571e85caabc5724d40b65008fb63c814bb8b4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 5, + "global_ask_index": 1303, + "normalized": [ + 0.4078751298574616, + 0.9813059105409185, + 0.9997673726406969, + 0.5057708173060226, + 0.8522964701064805, + 0.7955383855567032, + 0.27623012863329505, + 0.5785953754975026, + 0.18743781148975744, + 0.8766305660516941, + 0.9999227415425161, + 0.9832639390561141 + ], + "settings": { + "spring_y": 40787.51298574616, + "object_radius_m": 0.049252236421636744, + "object_max_neighbours": 49, + "controller_radius_m": 0.04540395721142158, + "controller_max_neighbours": 69, + "ground_restitution": 0.7955383855567032, + "ground_friction": 0.5524602572665901, + "object_restitution": 0.5785953754975026, + "object_friction": 0.3748756229795149, + "collision_distance_m": 0.04506522264206777, + "drag_damping": 19.998454830850324, + "dashpot_damping": 196.65278781122282 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1130, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04538724198937416 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 218, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 644, + "hand_B": 486 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.143995499936864, + "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": 0.0535554348025471, + "workspace_s": 0.20555714215151966, + "objective_s": 0.0056586668360978365, + "stage_capture_s": 0.12431012815795839, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007163009839132428, + "complete_s": 0.01805817987769842 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.510386735200882e-05, + "complete_s": 0.0002457159571349621 + } + }, + "total_s": 0.35399460210464895 + } + } + }, + "wall_time_s": 8.573617784772068, + "outcome": "finite", + "score": 0.000857898759128229, + "tell_score": 0.000857898759128229, + "observation_score": 0.0004968278594241551, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..686d76fb6aca552c083b849c7e3d9bfe183f2b0b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a05/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eb59347f4b009ec1d56f3760ea185d5df089eb18975887daf5989d31672661c +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..04d9665a46cee8afd187a15a6ab7eb5beb703856 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a244f9b2b93245264601ec9478de8c7df2ae7daa121ff0b44a0f8becfbde08d5 +size 88754 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..2be358bcc90a63b10b35e5013dc9ec3150aebd6a --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64bd454553ff16c5e7802d250955592291f057784ade2fe2ba6810d7b64005a1 +size 397608 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/record.json new file mode 100644 index 0000000000000000000000000000000000000000..af5a29b713f98de73d2455475e25b369fe7f7df9 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 6, + "global_ask_index": 1304, + "normalized": [ + 0.40933198614006283, + 0.9775560106337898, + 0.9999998416959048, + 0.513460163185715, + 0.8565951020929587, + 0.7920204829235887, + 0.27815360095479325, + 0.5755652138690738, + 0.19848017486809444, + 0.8820201904916848, + 0.9999273726777764, + 0.9916390614101728 + ], + "settings": { + "spring_y": 40933.19861400628, + "object_radius_m": 0.04910224042535159, + "object_max_neighbours": 49, + "controller_radius_m": 0.045942211423000055, + "controller_max_neighbours": 69, + "ground_restitution": 0.7920204829235887, + "ground_friction": 0.5563072019095865, + "object_restitution": 0.5755652138690738, + "object_friction": 0.3969603497361889, + "collision_distance_m": 0.04528080761966739, + "drag_damping": 19.998547453555528, + "dashpot_damping": 198.32781228203456 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1182, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.045932210981845856 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 669, + "hand_B": 513 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.150423844112083, + "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": 0.057737780967727304, + "workspace_s": 0.2086930659133941, + "objective_s": 0.0057117759715765715, + "stage_capture_s": 0.13027206202968955, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.00786423496901989, + "complete_s": 0.01872581196948886 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.883916936814785e-05, + "complete_s": 0.00023203296586871147 + } + }, + "total_s": 0.36381246196106076 + } + } + }, + "wall_time_s": 9.003956029890105, + "outcome": "finite", + "score": 0.0008616267611360834, + "tell_score": 0.0008616267611360834, + "observation_score": 0.000501869040028744, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..2edd66cbfea32243f2dad279a0bc71c70915b964 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a06/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7da9050b5c5348e6f10da218f51caeaa2cb5fb02fe7339acf6626d1549c5e66 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..9501ac89c6791c018173eb8b8ac0d19f5210af6b --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d8650f8dbc6279c6f31effcba102fdcea52f853ef46344b6c4759d16be7d064 +size 88546 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..c75405a3aa8f093c793ee2911c29ca2cb36fa815 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8987d8dbded4c6b92d82fba36178c89879ecd16ace994106f92514ef8f34c9cd +size 396640 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/record.json new file mode 100644 index 0000000000000000000000000000000000000000..2165a251c8e367b6a00dfc4ed3449968c2edfb5c --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 7, + "global_ask_index": 1305, + "normalized": [ + 0.407783906009237, + 0.9757140597839049, + 0.9999742354268214, + 0.5061177482645948, + 0.8598739154330038, + 0.7716247503501376, + 0.26188420297879517, + 0.570294217613113, + 0.19177856667227877, + 0.8682549252436135, + 0.9999895014373541, + 0.9770258809330851 + ], + "settings": { + "spring_y": 40778.390600923696, + "object_radius_m": 0.0490285623913562, + "object_max_neighbours": 49, + "controller_radius_m": 0.04542824237852164, + "controller_max_neighbours": 70, + "ground_restitution": 0.7716247503501376, + "ground_friction": 0.5237684059575903, + "object_restitution": 0.570294217613113, + "object_friction": 0.38355713334455754, + "collision_distance_m": 0.044730197009744545, + "drag_damping": 19.999790028747082, + "dashpot_damping": 195.405176186617 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1134, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04538724198937416 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 219, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 648, + "hand_B": 486 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.150423844112083, + "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": 0.052716898964717984, + "workspace_s": 0.20517404400743544, + "objective_s": 0.005736121907830238, + "stage_capture_s": 0.12491246103309095, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007488070987164974, + "complete_s": 0.018358639907091856 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 0.00010299310088157654, + "complete_s": 0.0002408770378679037 + } + }, + "total_s": 0.3546106868889183 + } + } + }, + "wall_time_s": 8.58516358002089, + "outcome": "finite", + "score": 0.0008564123361574888, + "tell_score": 0.0008564123361574888, + "observation_score": 0.0004945558692403793, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..500114209145943ac6bcfe9dbb0f72d0714ba2f2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a07/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a936728214bf55a3c5c877cc6045a5b4981bc6a3b0221d9203ef9a22c6d11f83 +size 2528898 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c2b5b7d09d125b754fe7b2c0357202601828705 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baa1a702cecbfaf9e6cdccc742fa08f46c1a0b6e1b87dfc6e92da5dab43c6a3b +size 88710 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/topology.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/topology.npz new file mode 100644 index 0000000000000000000000000000000000000000..e3630d5acdf9ea488777feebfcbbd01dcfad6a49 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/model/topology.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a369ef570207c2ae08390547b9550d3ccf460e1bf006d5b8c23a7764bcc6f39d +size 397388 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/record.json b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/record.json new file mode 100644 index 0000000000000000000000000000000000000000..8a8f30679fde7b1f230fa8a7cd71a5c6487c87c5 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/record.json @@ -0,0 +1,149 @@ +{ + "stage": "cma_ask", + "generation": 118, + "ask_index": 8, + "global_ask_index": 1306, + "normalized": [ + 0.4015326153408607, + 0.9809762176083919, + 0.9996735319850819, + 0.5117026662681977, + 0.8442210953788782, + 0.7837854583331936, + 0.23964478411181628, + 0.5562424041817607, + 0.18275503512035082, + 0.8573662457795689, + 0.9994170650197506, + 0.9936653436015942 + ], + "settings": { + "spring_y": 40153.26153408607, + "object_radius_m": 0.04923904870433568, + "object_max_neighbours": 49, + "controller_radius_m": 0.045819186638773844, + "controller_max_neighbours": 69, + "ground_restitution": 0.7837854583331936, + "ground_friction": 0.47928956822363256, + "object_restitution": 0.5562424041817607, + "object_friction": 0.36551007024070165, + "collision_distance_m": 0.04429464983118276, + "drag_damping": 19.98834130039501, + "dashpot_damping": 198.73306872031884 + }, + "topology": { + "object_springs": 18544, + "controller_springs": 1171, + "object_rest_min_max_m": [ + 0.0004799506568815559, + 0.04033707454800606 + ], + "controller_rest_min_max_m": [ + 0.0061761378310620785, + 0.04580417647957802 + ], + "isolated_object_nodes": 0, + "attached_object_nodes": 221, + "controls_without_attachment": 0, + "attachments_by_hand": { + "hand_A": 664, + "hand_B": 507 + } + }, + "execution": { + "device": "cuda:0", + "transition_capture": true, + "objective_capture": true, + "wall_time_s": 8.05855623097159, + "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": 0.057396682212129235, + "workspace_s": 0.21769732679240406, + "objective_s": 0.005918417125940323, + "stage_capture_s": 0.13314438704401255, + "warm_launch": { + "dynamics": { + "launched": true, + "graph_exec_existed": false, + "instantiate_and_enqueue_s": 0.007303665857762098, + "complete_s": 0.01816997304558754 + }, + "objective": { + "launched": 4, + "graph_exec_existed": { + "clear": false, + "select": false, + "loss": false, + "history": false + }, + "instantiate_and_enqueue_s": 9.536393918097019e-05, + "complete_s": 0.00023140991106629372 + } + }, + "total_s": 0.37533133779652417 + } + } + }, + "wall_time_s": 9.016892937012017, + "outcome": "finite", + "score": 0.0008582440525742177, + "tell_score": 0.0008582440525742177, + "observation_score": 0.0005015348431294122, + "completed_transitions": 491, + "physical_failure": null, + "trajectory_retained": false +} diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/rollout.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/rollout.npz new file mode 100644 index 0000000000000000000000000000000000000000..f642ca254b3323e2a3950d7705696b0c5749b645 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a08/rollout.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:619e45e2b830e4b156bbdc135ca64cfb852d22699c38e9f27feb05b367e6f396 +size 2528902 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a09/model/model.npz b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a09/model/model.npz new file mode 100644 index 0000000000000000000000000000000000000000..9f6397447241da10ac6c5ae7e1682a2dc279faca --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g118/a09/model/model.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90a3dc78c0b2390c814d4570eb731b9d9b84e0f261f101fbd4d334e56a6e9cbd +size 88562