sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 123/173
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/record.json +148 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/issued.npy +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/lifecycle.jsonl +48 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/strategy_after_ask.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/strategy_after_tell.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/told.json +60 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a04/model/model.npz +3 -0
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a8f5cc60a4086c63df6d715207ca010eed645a70bf878a6a5ae21b2e2d9b2bc5
|
| 3 |
+
size 88574
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d3532bfb0e73f172a3ad0889a9d0aaf0609e20f34a59473649c2c59bc75cd9b8
|
| 3 |
+
size 396724
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 4,
|
| 5 |
+
"global_ask_index": 1621,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41148002982842286,
|
| 8 |
+
0.988073732137058,
|
| 9 |
+
0.9995003468709799,
|
| 10 |
+
0.5068711705325925,
|
| 11 |
+
0.8626518623652235,
|
| 12 |
+
0.7517614321295143,
|
| 13 |
+
0.3021894922074277,
|
| 14 |
+
0.5795355730206804,
|
| 15 |
+
0.19295409998288804,
|
| 16 |
+
0.8557143649613858,
|
| 17 |
+
0.9997679328881308,
|
| 18 |
+
0.9920522717767007
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41148.002982842285,
|
| 22 |
+
"object_radius_m": 0.04952294928548232,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04548098193728148,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7517614321295143,
|
| 27 |
+
"ground_friction": 0.6043789844148554,
|
| 28 |
+
"object_restitution": 0.5795355730206804,
|
| 29 |
+
"object_friction": 0.3859081999657761,
|
| 30 |
+
"collision_distance_m": 0.04422857459845543,
|
| 31 |
+
"drag_damping": 19.995358657762615,
|
| 32 |
+
"dashpot_damping": 198.41045435534014
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1138,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545925185084343
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.063901224872097,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05689420597627759,
|
| 115 |
+
"workspace_s": 0.21630761306732893,
|
| 116 |
+
"objective_s": 0.005841508042067289,
|
| 117 |
+
"stage_capture_s": 0.12590844882652164,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007869575172662735,
|
| 123 |
+
"complete_s": 0.018740246072411537
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010920315980911255,
|
| 134 |
+
"complete_s": 0.0002445089630782604
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.367224802961573
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.012286657001823,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008542058603557599,
|
| 144 |
+
"tell_score": 0.0008542058603557599,
|
| 145 |
+
"observation_score": 0.0004935973301831473,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a04/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:38b0f32c019ec7755ce334e79f063fb9b064d1b68dfd349cf26bdef2fa4161f8
|
| 3 |
+
size 2528898
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26ef6d790fe2fb445e1f2e94d4e1796a500889ce1538c773936e732d5b187cb2
|
| 3 |
+
size 88550
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5994bb12774a227395f45ab5cb8b3b0bfedc24f84d0cb1be8586b8d5cd0d719
|
| 3 |
+
size 396648
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 5,
|
| 5 |
+
"global_ask_index": 1622,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.411095991173377,
|
| 8 |
+
0.9840037559588221,
|
| 9 |
+
0.998381704480126,
|
| 10 |
+
0.5058870386870498,
|
| 11 |
+
0.8667171940425519,
|
| 12 |
+
0.7532105698435135,
|
| 13 |
+
0.29277651114193154,
|
| 14 |
+
0.5726761048945005,
|
| 15 |
+
0.1780393399319705,
|
| 16 |
+
0.8622269186798471,
|
| 17 |
+
0.9995761555869613,
|
| 18 |
+
0.9919798760847085
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41109.5991173377,
|
| 22 |
+
"object_radius_m": 0.049360150238352885,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04541209270809349,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7532105698435135,
|
| 27 |
+
"ground_friction": 0.5855530222838631,
|
| 28 |
+
"object_restitution": 0.5726761048945005,
|
| 29 |
+
"object_friction": 0.356078679863941,
|
| 30 |
+
"collision_distance_m": 0.044489076747193886,
|
| 31 |
+
"drag_damping": 19.991523111739227,
|
| 32 |
+
"dashpot_damping": 198.3959752169417
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1134,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04538724198937416
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 648,
|
| 50 |
+
"hand_B": 486
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.063901224872097,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05145367397926748,
|
| 115 |
+
"workspace_s": 0.2996779589448124,
|
| 116 |
+
"objective_s": 0.005851468071341515,
|
| 117 |
+
"stage_capture_s": 0.1254500059876591,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.0073607240337878466,
|
| 123 |
+
"complete_s": 0.018255354138091207
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010817288421094418,
|
| 134 |
+
"complete_s": 0.00023953476920723915
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4496536669321358
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.59136205399409,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008557814344644732,
|
| 144 |
+
"tell_score": 0.0008557814344644732,
|
| 145 |
+
"observation_score": 0.0004938242531641407,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a05/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:840c0de206b0ccf0705a31428dbf9241450eae8dff3c9aa96341f5ebdc9b7b1e
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a2f1c2f6df6baaa5719c6b216a5cd355a76caab5d0063d64f9e36741e7a3324
|
| 3 |
+
size 88606
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e8ba0f61e95062d9981fb550fdfcabfe3816c80bcfda9d987b7efccb9e9affa
|
| 3 |
+
size 396868
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 1623,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.40787344604603004,
|
| 8 |
+
0.9801914902958636,
|
| 9 |
+
0.9990528272455536,
|
| 10 |
+
0.508091990001863,
|
| 11 |
+
0.8567291494257996,
|
| 12 |
+
0.7578945783260752,
|
| 13 |
+
0.29761860902297776,
|
| 14 |
+
0.5640640220858776,
|
| 15 |
+
0.18636643903654934,
|
| 16 |
+
0.8559882196662433,
|
| 17 |
+
0.999256595468857,
|
| 18 |
+
0.9963967681668983
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 40787.34460460301,
|
| 22 |
+
"object_radius_m": 0.04920765961183455,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045566439300130414,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7578945783260752,
|
| 27 |
+
"ground_friction": 0.5952372180459555,
|
| 28 |
+
"object_restitution": 0.5640640220858776,
|
| 29 |
+
"object_friction": 0.3727328780730987,
|
| 30 |
+
"collision_distance_m": 0.04423952878664973,
|
| 31 |
+
"drag_damping": 19.98513190937714,
|
| 32 |
+
"dashpot_damping": 199.27935363337966
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1145,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045564841479063034
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 649,
|
| 50 |
+
"hand_B": 496
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.062278907978907,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.057789857033640146,
|
| 115 |
+
"workspace_s": 0.20825937297195196,
|
| 116 |
+
"objective_s": 0.006190564017742872,
|
| 117 |
+
"stage_capture_s": 0.13044460490345955,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007345288060605526,
|
| 123 |
+
"complete_s": 0.018208265071734786
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.0001088900025933981,
|
| 134 |
+
"complete_s": 0.00021525099873542786
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3634973899461329
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.014531631022692,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008634953759788477,
|
| 144 |
+
"tell_score": 0.0008634953759788477,
|
| 145 |
+
"observation_score": 0.0005022250695280681,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a06/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d174e667a0c9055eb4d1e1bc685a5bfde6084e968074f74985bcbea4d462d9f4
|
| 3 |
+
size 2528906
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1f1ea5310a70a48406cf60910e7116fa5a2a19587f105cadac1bd22a440af3d
|
| 3 |
+
size 88574
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:499642d58e9477414c05b31f407dfe2c5d96e2a8d88db5b019507295c7516d0f
|
| 3 |
+
size 396688
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 7,
|
| 5 |
+
"global_ask_index": 1624,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4077138618987073,
|
| 8 |
+
0.984780956950432,
|
| 9 |
+
0.9989268669709829,
|
| 10 |
+
0.5063303212885885,
|
| 11 |
+
0.8652175498449735,
|
| 12 |
+
0.7576302457121052,
|
| 13 |
+
0.30917305840362125,
|
| 14 |
+
0.5799844648196141,
|
| 15 |
+
0.19189186043739964,
|
| 16 |
+
0.8721067633649947,
|
| 17 |
+
0.9985881488662444,
|
| 18 |
+
0.9962924129694324
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 40771.386189870726,
|
| 22 |
+
"object_radius_m": 0.04939123827801728,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045443122490201195,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7576302457121052,
|
| 27 |
+
"ground_friction": 0.6183461168072425,
|
| 28 |
+
"object_restitution": 0.5799844648196141,
|
| 29 |
+
"object_friction": 0.3837837208747993,
|
| 30 |
+
"collision_distance_m": 0.04488427053459979,
|
| 31 |
+
"drag_damping": 19.971762977324886,
|
| 32 |
+
"dashpot_damping": 199.25848259388647
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1136,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04543980583548546
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 649,
|
| 50 |
+
"hand_B": 487
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.062278907978907,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05291342199780047,
|
| 115 |
+
"workspace_s": 0.2994148179423064,
|
| 116 |
+
"objective_s": 0.005809013964608312,
|
| 117 |
+
"stage_capture_s": 0.13031519507057965,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007597038056701422,
|
| 123 |
+
"complete_s": 0.01851217309013009
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011126906611025333,
|
| 134 |
+
"complete_s": 0.000257967971265316
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.45450612204149365
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.595905507914722,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008561344569927848,
|
| 144 |
+
"tell_score": 0.0008561344569927848,
|
| 145 |
+
"observation_score": 0.0004945536048023282,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a07/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7801a06dd0e24ed4748f846de0ef3b11639729ac51f74e71240f23fbe1e81ef
|
| 3 |
+
size 2528886
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ac7404d88a8abefda21dfddda03cc73984f6116e9de0550215dcf2c0bf76cbde
|
| 3 |
+
size 88550
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aabc252de5f2f59ade8ccd5261b1fcb764e61dc998a6c4417ddc3802b181ae70
|
| 3 |
+
size 396724
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 8,
|
| 5 |
+
"global_ask_index": 1625,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4138112966303061,
|
| 8 |
+
0.9874517123750381,
|
| 9 |
+
0.9985400278224706,
|
| 10 |
+
0.5066209236578766,
|
| 11 |
+
0.8591259038741046,
|
| 12 |
+
0.7460692382942056,
|
| 13 |
+
0.2827152210571562,
|
| 14 |
+
0.5733466397307138,
|
| 15 |
+
0.18538455606092274,
|
| 16 |
+
0.8453030550299,
|
| 17 |
+
0.9998423834972284,
|
| 18 |
+
0.9943401312412337
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41381.12966303061,
|
| 22 |
+
"object_radius_m": 0.04949806849500153,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04546346465605137,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7460692382942056,
|
| 27 |
+
"ground_friction": 0.5654304421143124,
|
| 28 |
+
"object_restitution": 0.5733466397307138,
|
| 29 |
+
"object_friction": 0.3707691121218455,
|
| 30 |
+
"collision_distance_m": 0.043812122201196,
|
| 31 |
+
"drag_damping": 19.996847669944568,
|
| 32 |
+
"dashpot_damping": 198.86802624824674
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1138,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545925185084343
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.064462997019291,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.054911897983402014,
|
| 115 |
+
"workspace_s": 0.2135765899438411,
|
| 116 |
+
"objective_s": 0.0059121521189808846,
|
| 117 |
+
"stage_capture_s": 0.13290759804658592,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007286289008334279,
|
| 123 |
+
"complete_s": 0.01819680887274444
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010300986468791962,
|
| 134 |
+
"complete_s": 0.0002515849191695452
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3710425889585167
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.021201930008829,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008541591045186597,
|
| 144 |
+
"tell_score": 0.0008541591045186597,
|
| 145 |
+
"observation_score": 0.000493080864143923,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a08/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:58a71dc31ed09737eb4ee9224ef22df73e3dd6539642f98b8cc76440f8364334
|
| 3 |
+
size 2528886
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:04e09fe0ea03e1f3870ca32c1d0e845690a08cc36b6d75f2f3dde8ab62db6b0a
|
| 3 |
+
size 88558
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc54bac7652c15028aa7b1951c2dab7d598f2572bc2d9e8017513b5ae57d12ab
|
| 3 |
+
size 396728
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 9,
|
| 5 |
+
"global_ask_index": 1626,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.40705374040863396,
|
| 8 |
+
0.979162696024402,
|
| 9 |
+
0.9994463991166642,
|
| 10 |
+
0.5066410997773437,
|
| 11 |
+
0.8616464604728199,
|
| 12 |
+
0.7530407944375316,
|
| 13 |
+
0.3057254845602542,
|
| 14 |
+
0.5780057375155324,
|
| 15 |
+
0.19567118482806897,
|
| 16 |
+
0.8700055384994546,
|
| 17 |
+
0.9991994863813705,
|
| 18 |
+
0.9940269158146045
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 40705.3740408634,
|
| 22 |
+
"object_radius_m": 0.04916650784097608,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045464876984414065,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7530407944375316,
|
| 27 |
+
"ground_friction": 0.6114509691205084,
|
| 28 |
+
"object_restitution": 0.5780057375155324,
|
| 29 |
+
"object_friction": 0.39134236965613795,
|
| 30 |
+
"collision_distance_m": 0.04480022153997819,
|
| 31 |
+
"drag_damping": 19.98398972762741,
|
| 32 |
+
"dashpot_damping": 198.8053831629209
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1138,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545925185084343
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.064462997019291,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.052817079005762935,
|
| 115 |
+
"workspace_s": 0.2991169639863074,
|
| 116 |
+
"objective_s": 0.0059721870347857475,
|
| 117 |
+
"stage_capture_s": 0.1306378128938377,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007498713908717036,
|
| 123 |
+
"complete_s": 0.018415292957797647
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010485597886145115,
|
| 134 |
+
"complete_s": 0.00024548894725739956
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4545721970498562
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.598262707004324,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000854585624132552,
|
| 144 |
+
"tell_score": 0.000854585624132552,
|
| 145 |
+
"observation_score": 0.000494588719433256,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a09/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3024fe9355bf358cb7bbac698face6dc543de2fff4d016b2942ee9ef124a8a2e
|
| 3 |
+
size 2528898
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2e374cee785a4cb2ef8694aa1202e7aa6b99fce95c840a4c8a4b98fd179259a2
|
| 3 |
+
size 88586
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5e72df8926e9990acbc65931ca6f0ae3e7fa93440846e67e08c08236e35e6c5f
|
| 3 |
+
size 396724
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/record.json
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 147,
|
| 4 |
+
"ask_index": 10,
|
| 5 |
+
"global_ask_index": 1627,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41147591859867305,
|
| 8 |
+
0.9840790461429814,
|
| 9 |
+
0.9984943504360144,
|
| 10 |
+
0.506909766508107,
|
| 11 |
+
0.861691423820052,
|
| 12 |
+
0.7607041064903832,
|
| 13 |
+
0.28495905087560075,
|
| 14 |
+
0.5652802035627946,
|
| 15 |
+
0.19219458418207977,
|
| 16 |
+
0.8574180405767747,
|
| 17 |
+
0.9990815708346312,
|
| 18 |
+
0.9980668631472774
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41147.5918598673,
|
| 22 |
+
"object_radius_m": 0.049363161845719254,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.0454836836555675,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7607041064903832,
|
| 27 |
+
"ground_friction": 0.5699181017512015,
|
| 28 |
+
"object_restitution": 0.5652802035627946,
|
| 29 |
+
"object_friction": 0.38438916836415954,
|
| 30 |
+
"collision_distance_m": 0.044296721623070995,
|
| 31 |
+
"drag_damping": 19.981631416692625,
|
| 32 |
+
"dashpot_damping": 199.61337262945548
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1138,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545925185084343
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 5.648970973910764,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 5,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
10
|
| 110 |
+
],
|
| 111 |
+
"earlier_asks_pending_at_commit": [],
|
| 112 |
+
"preparation": {
|
| 113 |
+
"decode_topology_model_s": 0.05490311188623309,
|
| 114 |
+
"workspace_s": 0.21957266796380281,
|
| 115 |
+
"objective_s": 0.006271392107009888,
|
| 116 |
+
"stage_capture_s": 0.13036227389238775,
|
| 117 |
+
"warm_launch": {
|
| 118 |
+
"dynamics": {
|
| 119 |
+
"launched": true,
|
| 120 |
+
"graph_exec_existed": false,
|
| 121 |
+
"instantiate_and_enqueue_s": 0.00860221916809678,
|
| 122 |
+
"complete_s": 0.019474649103358388
|
| 123 |
+
},
|
| 124 |
+
"objective": {
|
| 125 |
+
"launched": 4,
|
| 126 |
+
"graph_exec_existed": {
|
| 127 |
+
"clear": false,
|
| 128 |
+
"select": false,
|
| 129 |
+
"loss": false,
|
| 130 |
+
"history": false
|
| 131 |
+
},
|
| 132 |
+
"instantiate_and_enqueue_s": 0.0001869979314506054,
|
| 133 |
+
"complete_s": 0.00034824106842279434
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"total_s": 0.3762239890638739
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"wall_time_s": 6.093184866942465,
|
| 141 |
+
"outcome": "finite",
|
| 142 |
+
"score": 0.000854290959674461,
|
| 143 |
+
"tell_score": 0.000854290959674461,
|
| 144 |
+
"observation_score": 0.0004936049331291133,
|
| 145 |
+
"completed_transitions": 491,
|
| 146 |
+
"physical_failure": null,
|
| 147 |
+
"trajectory_retained": false
|
| 148 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/a10/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9c825109acc083686c1e84d3f56d611600a65a7f9e953bc6d587221d69a628e3
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/issued.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:df7f5ea85c0a9a34023fa56a580e1c3230d0348c31f84021032f3a3fdaa37e0e
|
| 3 |
+
size 1184
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/lifecycle.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791680687.1885755, "t_invocation_s": 0.000116605, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []}
|
| 2 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680687.1892784, "t_invocation_s": 0.00081965, "wave": 0, "members": [0, 1], "occupancy": 2}
|
| 3 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680687.6140687, "t_invocation_s": 0.42561039, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.055140092968940735, "workspace_s": 0.20860367501154542, "objective_s": 0.005686851916834712, "stage_capture_s": 0.12968836398795247, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0083402160089463, "complete_s": 0.019209465943276882}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010272907093167305, "complete_s": 0.00023944606073200703}}, "total_s": 0.36360458191484213}, "object_springs": 18544, "controller_springs": 1138}
|
| 4 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680688.1340506, "t_invocation_s": 0.945592074, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05307055497542024, "workspace_s": 0.3001509280875325, "objective_s": 0.005829880945384502, "stage_capture_s": 0.13178623304702342, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007234445074573159, "complete_s": 0.018110038014128804}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011215498670935631, "complete_s": 0.0002459969837218523}}, "total_s": 0.4563317259307951}, "object_springs": 18544, "controller_springs": 1134}
|
| 5 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680688.1393747, "t_invocation_s": 0.950916159, "wave": 0, "members": [0, 1]}
|
| 6 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680696.2114327, "t_invocation_s": 9.022974204, "wave": 0, "index": 0, "arrival": 0}
|
| 7 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680696.224043, "t_invocation_s": 9.035584355, "wave": 0, "index": 1, "arrival": 1}
|
| 8 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680696.2531369, "t_invocation_s": 9.064678594, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
|
| 9 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680696.2789984, "t_invocation_s": 9.090539978, "wave": 0, "commit_order": [0, 1]}
|
| 10 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680696.2798755, "t_invocation_s": 9.091416869, "wave": 1, "members": [2, 3], "occupancy": 2}
|
| 11 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680696.7099872, "t_invocation_s": 9.521528574, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.0572531979996711, "workspace_s": 0.21138733089901507, "objective_s": 0.005848169093951583, "stage_capture_s": 0.13047182583250105, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00799878709949553, "complete_s": 0.018869077088311315}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.980611503124237e-05, "complete_s": 0.00023348606191575527}}, "total_s": 0.36700853588990867}, "object_springs": 18544, "controller_springs": 1130}
|
| 12 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680697.2286172, "t_invocation_s": 10.040158705, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.053630937123671174, "workspace_s": 0.29884681291878223, "objective_s": 0.00582282105460763, "stage_capture_s": 0.13099558698013425, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007650610059499741, "complete_s": 0.018543223151937127}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010292208753526211, "complete_s": 0.00023967702873051167}}, "total_s": 0.45464453590102494}, "object_springs": 18544, "controller_springs": 1150}
|
| 13 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680697.2338128, "t_invocation_s": 10.045354092, "wave": 1, "members": [2, 3]}
|
| 14 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680705.3095982, "t_invocation_s": 18.121139774, "wave": 1, "index": 2, "arrival": 0}
|
| 15 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680705.3220298, "t_invocation_s": 18.133571197, "wave": 1, "index": 3, "arrival": 1}
|
| 16 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680705.3521285, "t_invocation_s": 18.163670297, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
|
| 17 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680705.3816605, "t_invocation_s": 18.193202128, "wave": 1, "commit_order": [2, 3]}
|
| 18 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680705.3826234, "t_invocation_s": 18.194164643, "wave": 2, "members": [4, 5], "occupancy": 2}
|
| 19 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680705.8123608, "t_invocation_s": 18.623902141, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05689420597627759, "workspace_s": 0.21630761306732893, "objective_s": 0.005841508042067289, "stage_capture_s": 0.12590844882652164, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007869575172662735, "complete_s": 0.018740246072411537}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010920315980911255, "complete_s": 0.0002445089630782604}}, "total_s": 0.367224802961573}, "object_springs": 18544, "controller_springs": 1138}
|
| 20 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680706.3238, "t_invocation_s": 19.135341379, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05145367397926748, "workspace_s": 0.2996779589448124, "objective_s": 0.005851468071341515, "stage_capture_s": 0.1254500059876591, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0073607240337878466, "complete_s": 0.018255354138091207}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010817288421094418, "complete_s": 0.00023953476920723915}}, "total_s": 0.4496536669321358}, "object_springs": 18544, "controller_springs": 1134}
|
| 21 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680706.328981, "t_invocation_s": 19.140522372, "wave": 2, "members": [4, 5]}
|
| 22 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680714.4016125, "t_invocation_s": 27.213154347, "wave": 2, "index": 4, "arrival": 0}
|
| 23 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680714.414877, "t_invocation_s": 27.226418259, "wave": 2, "index": 5, "arrival": 1}
|
| 24 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680714.4442165, "t_invocation_s": 27.255758499, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
|
| 25 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680714.4739573, "t_invocation_s": 27.285499132, "wave": 2, "commit_order": [4, 5]}
|
| 26 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680714.4746652, "t_invocation_s": 27.286206563, "wave": 3, "members": [6, 7], "occupancy": 2}
|
| 27 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680714.9019303, "t_invocation_s": 27.713471728, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.057789857033640146, "workspace_s": 0.20825937297195196, "objective_s": 0.006190564017742872, "stage_capture_s": 0.13044460490345955, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007345288060605526, "complete_s": 0.018208265071734786}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001088900025933981, "complete_s": 0.00021525099873542786}}, "total_s": 0.3634973899461329}, "object_springs": 18544, "controller_springs": 1145}
|
| 28 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680715.419794, "t_invocation_s": 28.231335749, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05291342199780047, "workspace_s": 0.2994148179423064, "objective_s": 0.005809013964608312, "stage_capture_s": 0.13031519507057965, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007597038056701422, "complete_s": 0.01851217309013009}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011126906611025333, "complete_s": 0.000257967971265316}}, "total_s": 0.45450612204149365}, "object_springs": 18544, "controller_springs": 1136}
|
| 29 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680715.4249687, "t_invocation_s": 28.236510036, "wave": 3, "members": [6, 7]}
|
| 30 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680723.4958098, "t_invocation_s": 36.307351149, "wave": 3, "index": 6, "arrival": 0}
|
| 31 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680723.5088534, "t_invocation_s": 36.320394661, "wave": 3, "index": 7, "arrival": 1}
|
| 32 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680723.5403392, "t_invocation_s": 36.351880815, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
|
| 33 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680723.5702584, "t_invocation_s": 36.381800191, "wave": 3, "commit_order": [6, 7]}
|
| 34 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680723.5710285, "t_invocation_s": 36.382569836, "wave": 4, "members": [8, 9], "occupancy": 2}
|
| 35 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680724.0026422, "t_invocation_s": 36.814183589, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.054911897983402014, "workspace_s": 0.2135765899438411, "objective_s": 0.0059121521189808846, "stage_capture_s": 0.13290759804658592, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007286289008334279, "complete_s": 0.01819680887274444}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010300986468791962, "complete_s": 0.0002515849191695452}}, "total_s": 0.3710425889585167}, "object_springs": 18544, "controller_springs": 1138}
|
| 36 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680724.5205035, "t_invocation_s": 37.332045071, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.052817079005762935, "workspace_s": 0.2991169639863074, "objective_s": 0.0059721870347857475, "stage_capture_s": 0.1306378128938377, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007498713908717036, "complete_s": 0.018415292957797647}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010485597886145115, "complete_s": 0.00024548894725739956}}, "total_s": 0.4545721970498562}, "object_springs": 18544, "controller_springs": 1138}
|
| 37 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680724.5256627, "t_invocation_s": 37.337203952, "wave": 4, "members": [8, 9]}
|
| 38 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680732.5989292, "t_invocation_s": 45.41047054, "wave": 4, "index": 8, "arrival": 0}
|
| 39 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680732.6119761, "t_invocation_s": 45.423517645, "wave": 4, "index": 9, "arrival": 1}
|
| 40 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680732.6447434, "t_invocation_s": 45.456285191, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
|
| 41 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680732.6754823, "t_invocation_s": 45.487023971, "wave": 4, "commit_order": [8, 9]}
|
| 42 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791680732.6762085, "t_invocation_s": 45.487749545, "wave": 5, "members": [10], "occupancy": 1}
|
| 43 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791680733.1131325, "t_invocation_s": 45.924674066, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05490311188623309, "workspace_s": 0.21957266796380281, "objective_s": 0.006271392107009888, "stage_capture_s": 0.13036227389238775, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00860221916809678, "complete_s": 0.019474649103358388}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.0001869979314506054, "complete_s": 0.00034824106842279434}}, "total_s": 0.3762239890638739}, "object_springs": 18544, "controller_springs": 1138}
|
| 44 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791680733.118356, "t_invocation_s": 45.929897263, "wave": 5, "members": [10]}
|
| 45 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791680738.7760384, "t_invocation_s": 51.587579688, "wave": 5, "index": 10, "arrival": 0}
|
| 46 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791680738.781195, "t_invocation_s": 51.59273626, "wave": 5, "drained": {"10": "drained"}}
|
| 47 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791680738.811435, "t_invocation_s": 51.622976548, "wave": 5, "commit_order": [10]}
|
| 48 |
+
{"invocation": 1, "kind": "told", "t_unix_s": 1791680738.8136034, "t_invocation_s": 51.625144577, "generation": 147, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 1397}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/strategy_after_ask.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5fb50e8be9d6c3df920f451c2a7363f5e1d55c4c25e6f875ce103032cc0825c8
|
| 3 |
+
size 31577
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/strategy_after_tell.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90786a073c40f800f3b5422952ab324b3de2d706ea7f191eb7ddcac43d5e45d7
|
| 3 |
+
size 28282
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g147/told.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"generation": 147,
|
| 3 |
+
"told_scores": [
|
| 4 |
+
0.0008543986989280765,
|
| 5 |
+
0.0008556197176524059,
|
| 6 |
+
0.0008610291230614874,
|
| 7 |
+
0.0008623984696652006,
|
| 8 |
+
0.0008542058603557599,
|
| 9 |
+
0.0008557814344644732,
|
| 10 |
+
0.0008634953759788477,
|
| 11 |
+
0.0008561344569927848,
|
| 12 |
+
0.0008541591045186597,
|
| 13 |
+
0.000854585624132552,
|
| 14 |
+
0.000854290959674461
|
| 15 |
+
],
|
| 16 |
+
"physical_failures": 0,
|
| 17 |
+
"physical_failures_total": 0,
|
| 18 |
+
"issued_asks_total": 1628,
|
| 19 |
+
"told_asks_total": 1628,
|
| 20 |
+
"champion": {
|
| 21 |
+
"generation": 127,
|
| 22 |
+
"ask_index": 0,
|
| 23 |
+
"global_ask_index": 1397,
|
| 24 |
+
"score": 0.000853585976892831,
|
| 25 |
+
"observation_score": 0.0004928914682702313,
|
| 26 |
+
"normalized": [
|
| 27 |
+
0.411845848211481,
|
| 28 |
+
0.976791609111934,
|
| 29 |
+
0.999999998610993,
|
| 30 |
+
0.5070648262149489,
|
| 31 |
+
0.8657329197077163,
|
| 32 |
+
0.7472634793422936,
|
| 33 |
+
0.2724538806231052,
|
| 34 |
+
0.5660797120546457,
|
| 35 |
+
0.20796165535661978,
|
| 36 |
+
0.8917751530285171,
|
| 37 |
+
0.9995464192366155,
|
| 38 |
+
0.9961371031135327
|
| 39 |
+
],
|
| 40 |
+
"settings": {
|
| 41 |
+
"spring_y": 41184.5848211481,
|
| 42 |
+
"object_radius_m": 0.04907166436447736,
|
| 43 |
+
"object_max_neighbours": 49,
|
| 44 |
+
"controller_radius_m": 0.04549453783504642,
|
| 45 |
+
"controller_max_neighbours": 70,
|
| 46 |
+
"ground_restitution": 0.7472634793422936,
|
| 47 |
+
"ground_friction": 0.5449077612462104,
|
| 48 |
+
"object_restitution": 0.5660797120546457,
|
| 49 |
+
"object_friction": 0.41592331071323957,
|
| 50 |
+
"collision_distance_m": 0.04567100612114069,
|
| 51 |
+
"drag_damping": 19.99092838473231,
|
| 52 |
+
"dashpot_damping": 199.22742062270652
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"pycma": {
|
| 56 |
+
"countiter": 148,
|
| 57 |
+
"countevals": 1628,
|
| 58 |
+
"sigma": 0.007062410152710812
|
| 59 |
+
}
|
| 60 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4ebf73a08770857f45e2eea1db6f3113eb08d3cc545aa82a632bb6830bd156ed
|
| 3 |
+
size 88546
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6bbd0e7e8c75d8de8439e5d24307e2ca31d87b05634c008c48938f89c975c578
|
| 3 |
+
size 396684
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 148,
|
| 4 |
+
"ask_index": 0,
|
| 5 |
+
"global_ask_index": 1628,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4120255082137764,
|
| 8 |
+
0.9870742741705683,
|
| 9 |
+
0.9987017556207538,
|
| 10 |
+
0.5063333471155299,
|
| 11 |
+
0.8600520493347609,
|
| 12 |
+
0.7551852660033824,
|
| 13 |
+
0.29872209537023464,
|
| 14 |
+
0.5874895060098717,
|
| 15 |
+
0.19341941109756916,
|
| 16 |
+
0.8513823040527785,
|
| 17 |
+
0.9996410076325655,
|
| 18 |
+
0.9949837949704253
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41202.55082137764,
|
| 22 |
+
"object_radius_m": 0.049482970966822734,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.0454433342980871,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7551852660033824,
|
| 27 |
+
"ground_friction": 0.5974441907404693,
|
| 28 |
+
"object_restitution": 0.5874895060098717,
|
| 29 |
+
"object_friction": 0.3868388221951383,
|
| 30 |
+
"collision_distance_m": 0.04405529216211114,
|
| 31 |
+
"drag_damping": 19.99282015265131,
|
| 32 |
+
"dashpot_damping": 198.99675899408507
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1136,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04543980583548546
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 649,
|
| 50 |
+
"hand_B": 487
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.151611474109814,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.14374481607228518,
|
| 115 |
+
"workspace_s": 0.21491560200229287,
|
| 116 |
+
"objective_s": 0.0060726499650627375,
|
| 117 |
+
"stage_capture_s": 0.13136872299946845,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007575303083285689,
|
| 123 |
+
"complete_s": 0.018445281079038978
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010014697909355164,
|
| 134 |
+
"complete_s": 0.00023070606403052807
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3712245370261371
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.111646243138239,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000855405771764149,
|
| 144 |
+
"tell_score": 0.000855405771764149,
|
| 145 |
+
"observation_score": 0.0004935829556768081,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a00/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9889de953a29f5bd75908c882261f9699d4c7a60a8fc3aba753cb02fad6bfed4
|
| 3 |
+
size 2528910
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4168692c85b0095fdf89ab88b185fee48819f4865a3d7c50970605276745cbc8
|
| 3 |
+
size 88570
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9eab6ab0b5bf94fc4e234667abf501bc1aad3a83af247ad50ba5da19925c0c94
|
| 3 |
+
size 396648
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 148,
|
| 4 |
+
"ask_index": 1,
|
| 5 |
+
"global_ask_index": 1629,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.40844458704153475,
|
| 8 |
+
0.9816186932462679,
|
| 9 |
+
0.998591676986207,
|
| 10 |
+
0.5060535940277656,
|
| 11 |
+
0.858416934185686,
|
| 12 |
+
0.7508106154776906,
|
| 13 |
+
0.2707487413154341,
|
| 14 |
+
0.5574578072474228,
|
| 15 |
+
0.18412049574726486,
|
| 16 |
+
0.8599205694876461,
|
| 17 |
+
0.9997544843421403,
|
| 18 |
+
0.9920856569934061
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 40844.458704153476,
|
| 22 |
+
"object_radius_m": 0.04926474772985072,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045423751581943596,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7508106154776906,
|
| 27 |
+
"ground_friction": 0.5414974826308682,
|
| 28 |
+
"object_restitution": 0.5574578072474228,
|
| 29 |
+
"object_friction": 0.3682409914945297,
|
| 30 |
+
"collision_distance_m": 0.044396822779505844,
|
| 31 |
+
"drag_damping": 19.995089686842807,
|
| 32 |
+
"dashpot_damping": 198.41713139868122
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1134,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04538724198937416
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 219,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 648,
|
| 50 |
+
"hand_B": 486
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.151611474109814,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.053434020141139627,
|
| 115 |
+
"workspace_s": 0.21134101110510528,
|
| 116 |
+
"objective_s": 0.005811156006529927,
|
| 117 |
+
"stage_capture_s": 0.13129121507517993,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.0077714279759675264,
|
| 123 |
+
"complete_s": 0.01866031507961452
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011070002801716328,
|
| 134 |
+
"complete_s": 0.0002449159510433674
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36753605399280787
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.5991502890829,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008559305405304928,
|
| 144 |
+
"tell_score": 0.0008559305405304928,
|
| 145 |
+
"observation_score": 0.0004944156688427488,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0885ef3fec0428d71ddfbe8664db021298df958f870e44aa7af33bce091707f8
|
| 3 |
+
size 2528898
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3378070484466ca932f892795810bbb6660fb4792e794ecb34e1bdce843544f3
|
| 3 |
+
size 88554
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e605d57276745c095c76bc1e9b7e27f1f1d789622e15da19f1d9a568ef9f6718
|
| 3 |
+
size 396700
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 148,
|
| 4 |
+
"ask_index": 2,
|
| 5 |
+
"global_ask_index": 1630,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4112089719688966,
|
| 8 |
+
0.9836053676748349,
|
| 9 |
+
0.9988383771796573,
|
| 10 |
+
0.5064695175695105,
|
| 11 |
+
0.8599805827481919,
|
| 12 |
+
0.7526351760066105,
|
| 13 |
+
0.28691182515649316,
|
| 14 |
+
0.5767469093744031,
|
| 15 |
+
0.1845322602583158,
|
| 16 |
+
0.8487013549883579,
|
| 17 |
+
0.9998830642834217,
|
| 18 |
+
0.994721287430072
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41120.89719688966,
|
| 22 |
+
"object_radius_m": 0.0493442147069934,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04545286622986574,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7526351760066105,
|
| 27 |
+
"ground_friction": 0.5738236503129863,
|
| 28 |
+
"object_restitution": 0.5767469093744031,
|
| 29 |
+
"object_friction": 0.3690645205166316,
|
| 30 |
+
"collision_distance_m": 0.04394805419953432,
|
| 31 |
+
"drag_damping": 19.997661285668432,
|
| 32 |
+
"dashpot_damping": 198.9442574860144
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1137,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04545193538069725
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 649,
|
| 50 |
+
"hand_B": 488
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.065674337791279,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05552054615691304,
|
| 115 |
+
"workspace_s": 0.21255805692635477,
|
| 116 |
+
"objective_s": 0.005885448073968291,
|
| 117 |
+
"stage_capture_s": 0.12809948110952973,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.0076925549656152725,
|
| 123 |
+
"complete_s": 0.018551961984485388
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.985617361962795e-05,
|
| 134 |
+
"complete_s": 0.00023627514019608498
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36551337293349206
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.029726528096944,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008544313820851198,
|
| 144 |
+
"tell_score": 0.0008544313820851198,
|
| 145 |
+
"observation_score": 0.0004938416334708191,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a02/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb33409ec7f50482bf5d10a2549c17cc7e1441d2fd549848018feb5315410efa
|
| 3 |
+
size 2528902
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3552fd43972451befe77ca2833cfe3c5d626e5378442b636693129e13ed44579
|
| 3 |
+
size 88582
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:692acfb8bb1c3c50f66c26a2791392a9ae35564ebbb01daa99b57ba0552669e1
|
| 3 |
+
size 396688
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 148,
|
| 4 |
+
"ask_index": 3,
|
| 5 |
+
"global_ask_index": 1631,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4144898438881148,
|
| 8 |
+
0.9881213490168927,
|
| 9 |
+
0.9989736945244376,
|
| 10 |
+
0.5071388925855617,
|
| 11 |
+
0.8563840378445722,
|
| 12 |
+
0.7452312308878534,
|
| 13 |
+
0.29529189679022383,
|
| 14 |
+
0.5806198219370466,
|
| 15 |
+
0.19329215038008532,
|
| 16 |
+
0.8630045718220162,
|
| 17 |
+
0.9998031516092902,
|
| 18 |
+
0.9934738257611889
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41448.98438881148,
|
| 22 |
+
"object_radius_m": 0.04952485396067571,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045499722480989324,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7452312308878534,
|
| 27 |
+
"ground_friction": 0.5905837935804477,
|
| 28 |
+
"object_restitution": 0.5806198219370466,
|
| 29 |
+
"object_friction": 0.38658430076017064,
|
| 30 |
+
"collision_distance_m": 0.04452018287288065,
|
| 31 |
+
"drag_damping": 19.996063032185805,
|
| 32 |
+
"dashpot_damping": 198.69476515223778
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1136,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 647,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.065674337791279,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05601993389427662,
|
| 115 |
+
"workspace_s": 0.21243577194400132,
|
| 116 |
+
"objective_s": 0.0058887319173663855,
|
| 117 |
+
"stage_capture_s": 0.22550488309934735,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008215415989980102,
|
| 123 |
+
"complete_s": 0.019103954080492258
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011429586447775364,
|
| 134 |
+
"complete_s": 0.0002445089630782604
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4633688540197909
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.60723618697375,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008554511891806958,
|
| 144 |
+
"tell_score": 0.0008554511891806958,
|
| 145 |
+
"observation_score": 0.0004946825968169431,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a03/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d42e5286c84f94c79851c41e1786ce19be50e254275b3e80d5f073667812ec6
|
| 3 |
+
size 2528906
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g148/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:48a5c6f569d5db30ed5a5f0ff1ae8900149509916917b3f878447d6efdf93793
|
| 3 |
+
size 88594
|