sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 38/45

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a01/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00518c392c2cbc80d600b52e8b9035b2efe210e177630c00eea78413140dafbd
+size 88558

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a01/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca84364c5c585c6ed6ab56d2f376703e2c84960b345732915c265c1bedbf6556
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a01/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 1,
+  "global_ask_index": 2586,
+  "normalized": [
+    0.41470658599018795,
+    0.9999697627840122,
+    0.9980601121632382,
+    0.5070707188771892,
+    0.8659613631469908,
+    0.723521876413988,
+    0.356018447178808,
+    0.6389165313650862,
+    0.15063725381286777,
+    0.8515168852816085,
+    0.9999974351430683,
+    0.999851158916819
+  ],
+  "settings": {
+    "spring_y": 41470.658599018796,
+    "object_radius_m": 0.04999879051136049,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549495032140325,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.723521876413988,
+    "ground_friction": 0.712036894357616,
+    "object_restitution": 0.6389165313650862,
+    "object_friction": 0.30127450762573554,
+    "collision_distance_m": 0.04406067541126434,
+    "drag_damping": 19.999948702861367,
+    "dashpot_damping": 199.9702317833638
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.054156350903213,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 0,
+      "wave_members": [
+        0,
+        1
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05376112018711865,
+        "workspace_s": 0.3122308498714119,
+        "objective_s": 0.005708685144782066,
+        "stage_capture_s": 0.1278926320374012,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007854962954297662,
+            "complete_s": 0.018748027039691806
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.898305870592594e-05,
+            "complete_s": 0.00021265214309096336
+          }
+        },
+        "total_s": 0.4649515259079635
+      }
+    }
+  },
+  "wall_time_s": 8.59871959220618,
+  "outcome": "finite",
+  "score": 0.0008532352616729275,
+  "tell_score": 0.0008532352616729275,
+  "observation_score": 0.0004922698858786088,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a01/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e6014e3e681376d100ab1fea577c54064876b2bc1040951eae369c1b20b1ea
+size 2528882

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a02/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0307d500820daf50b13df06d074c8de9c25833337b0fb7babfbb2f38b52d77a2
+size 88582

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a02/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52af132d3888d5ef5c73ee17d6784919a1250e351085619c3e0dd1227afcf095
+size 396740

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a02/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 2,
+  "global_ask_index": 2587,
+  "normalized": [
+    0.41445523395071165,
+    0.9998929553461324,
+    0.9981168836679224,
+    0.5070686148911735,
+    0.8630153386999362,
+    0.7268544422702912,
+    0.34758947519527733,
+    0.6312871197356528,
+    0.15428926315332975,
+    0.8482901996212447,
+    0.9999961939299302,
+    0.9998855802601111
+  ],
+  "settings": {
+    "spring_y": 41445.52339507116,
+    "object_radius_m": 0.0499957182138453,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549480304238215,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7268544422702912,
+    "ground_friction": 0.6951789503905547,
+    "object_restitution": 0.6312871197356528,
+    "object_friction": 0.3085785263066595,
+    "collision_distance_m": 0.04393160798484979,
+    "drag_damping": 19.999923878598604,
+    "dashpot_damping": 199.9771160520222
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.049486078089103,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 1,
+      "wave_members": [
+        2,
+        3
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05780116701498628,
+        "workspace_s": 0.2114054630510509,
+        "objective_s": 0.005711156874895096,
+        "stage_capture_s": 0.12717887409962714,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00807262398302555,
+            "complete_s": 0.01893007499165833
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00011230702511966228,
+            "complete_s": 0.0002511299680918455
+          }
+        },
+        "total_s": 0.3636566479690373
+      }
+    }
+  },
+  "wall_time_s": 8.998879052931443,
+  "outcome": "finite",
+  "score": 0.0008530994825235373,
+  "tell_score": 0.0008530994825235373,
+  "observation_score": 0.0004923245924998685,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a02/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0548a3ee64bb911f02925781a89de1f9f8f3108f37ca35886e5f2e8442b70f40
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a03/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21f96e94cb032860b693aa3012074bc43e6b104bb29209a84ec3be419cbdb1e2
+size 88546

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a03/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb69fcd0303b8bb4190ae8ed3e938e76728209b1b169d64e5dd241079c1d7b6
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a03/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 3,
+  "global_ask_index": 2588,
+  "normalized": [
+    0.413598635315577,
+    0.99995317603701,
+    0.9975241836889048,
+    0.5071295685097146,
+    0.8636775781270971,
+    0.7271428718306969,
+    0.34990562462430225,
+    0.639551117562001,
+    0.14849512651953828,
+    0.8512782798342807,
+    0.999999731726428,
+    0.9999968370100426
+  ],
+  "settings": {
+    "spring_y": 41359.8635315577,
+    "object_radius_m": 0.0499981270414804,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045499069795680025,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7271428718306969,
+    "ground_friction": 0.6998112492486045,
+    "object_restitution": 0.639551117562001,
+    "object_friction": 0.29699025303907656,
+    "collision_distance_m": 0.04405113119337123,
+    "drag_damping": 19.99999463452856,
+    "dashpot_damping": 199.99936740200852
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.049486078089103,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 1,
+      "wave_members": [
+        2,
+        3
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05353369517251849,
+        "workspace_s": 0.3023641649633646,
+        "objective_s": 0.0055557540617883205,
+        "stage_capture_s": 0.12414138484746218,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007267517037689686,
+            "complete_s": 0.01817661290988326
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 9.670201689004898e-05,
+            "complete_s": 0.00023281597532331944
+          }
+        },
+        "total_s": 0.450636314926669
+      }
+    }
+  },
+  "wall_time_s": 8.579891911009327,
+  "outcome": "finite",
+  "score": 0.0008533585668968742,
+  "tell_score": 0.0008533585668968742,
+  "observation_score": 0.0004925032537428154,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a03/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ea90d9d1fb69613de6949da234067f387eff584e700adb891820a080f3ab00
+size 2528878

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a04/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc359bafc24dcc20868f65f763a0ead87aaa8dd1d15cfba6f06701c9ba47c5cf
+size 88586

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a04/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8abe8210ffdd547619015d01fc9693f6fe0725e19ef6e95d9989984f2d22814
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a04/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 4,
+  "global_ask_index": 2589,
+  "normalized": [
+    0.41493318081881336,
+    0.999996664428144,
+    0.9979234923155063,
+    0.5071229136274997,
+    0.8652010370342736,
+    0.7267746836445849,
+    0.3501170386166341,
+    0.6375126001424323,
+    0.15183986462073856,
+    0.8505803532880652,
+    0.9999419804420243,
+    0.9999980029015613
+  ],
+  "settings": {
+    "spring_y": 41493.318081881334,
+    "object_radius_m": 0.04999986657712577,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045498603953924986,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7267746836445849,
+    "ground_friction": 0.7002340772332682,
+    "object_restitution": 0.6375126001424323,
+    "object_friction": 0.3036797292414771,
+    "collision_distance_m": 0.04402321413152261,
+    "drag_damping": 19.998839608840488,
+    "dashpot_damping": 199.99960058031226
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.049365437822416,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 2,
+      "wave_members": [
+        4,
+        5
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.057132625952363014,
+        "workspace_s": 0.2190147959627211,
+        "objective_s": 0.005737632047384977,
+        "stage_capture_s": 0.12870798190124333,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007919033989310265,
+            "complete_s": 0.01879272796213627
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010402314364910126,
+            "complete_s": 0.00021787802688777447
+          }
+        },
+        "total_s": 0.37265661894343793
+      }
+    }
+  },
+  "wall_time_s": 9.015227476833388,
+  "outcome": "finite",
+  "score": 0.0008532298198049222,
+  "tell_score": 0.0008532298198049222,
+  "observation_score": 0.0004922207015758104,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a04/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f74ef525b4477009d58a2b7abf1a24228415fddf349aaa6f78e2b8e7d9807c
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a05/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e244bfc555dcc3c24a5c9fd8aeef75d766a20f271683c8959a6941c9ebb87979
+size 88562

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a05/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc26343c0077fb5fb9e1331892904c3534f45b1a00da4e4abf8d9f0b1a3d6e6
+size 396736

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a05/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 5,
+  "global_ask_index": 2590,
+  "normalized": [
+    0.4149471777964551,
+    0.9999981678978224,
+    0.9979974117901943,
+    0.5070354364456028,
+    0.8620071299369853,
+    0.7253260296339985,
+    0.35453209141436043,
+    0.6407126765673586,
+    0.14767440209223706,
+    0.8540740224424422,
+    0.999995978513889,
+    0.9998841399448432
+  ],
+  "settings": {
+    "spring_y": 41494.717779645514,
+    "object_radius_m": 0.0499999267159129,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.0454924805511922,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7253260296339985,
+    "ground_friction": 0.7090641828287209,
+    "object_restitution": 0.6407126765673586,
+    "object_friction": 0.2953488041844741,
+    "collision_distance_m": 0.044162960897697695,
+    "drag_damping": 19.99991957027778,
+    "dashpot_damping": 199.97682798896864
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.049365437822416,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 2,
+      "wave_members": [
+        4,
+        5
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05354975303635001,
+        "workspace_s": 0.301910615991801,
+        "objective_s": 0.005922955926507711,
+        "stage_capture_s": 0.13153757504187524,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007908556144684553,
+            "complete_s": 0.018802556209266186
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010160612873733044,
+            "complete_s": 0.00021980307064950466
+          }
+        },
+        "total_s": 0.45855502504855394
+      }
+    }
+  },
+  "wall_time_s": 8.588280487107113,
+  "outcome": "finite",
+  "score": 0.00085323311154595,
+  "tell_score": 0.00085323311154595,
+  "observation_score": 0.000492217896716378,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a05/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620616e2066c7f1c2ffc7c0561f3750efc39652e862f597496a71ae89acf0022
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a06/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c0f0be2c617f7a3f71cbc47a850e51e85e7d3b460770c29651d5422eb3a9a1a
+size 88566

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a06/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1882796e7046fe5dec3539d52f87c58feb339b6dfc2a4e4905fe05e5cb6dfa6
+size 396744

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a06/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 6,
+  "global_ask_index": 2591,
+  "normalized": [
+    0.4155927416392466,
+    0.9999961351214893,
+    0.9983055313200927,
+    0.5070251891938348,
+    0.8654606249008089,
+    0.723161644170689,
+    0.3573420885124242,
+    0.6410558854319894,
+    0.1519507966599764,
+    0.8536645081693938,
+    0.9999958178773986,
+    0.9999582708561539
+  ],
+  "settings": {
+    "spring_y": 41559.27416392466,
+    "object_radius_m": 0.04999984540485958,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549176324356844,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.723161644170689,
+    "ground_friction": 0.7146841770248484,
+    "object_restitution": 0.6410558854319894,
+    "object_friction": 0.3039015933199528,
+    "collision_distance_m": 0.04414658032677575,
+    "drag_damping": 19.99991635754797,
+    "dashpot_damping": 199.99165417123078
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.061647813068703,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 3,
+      "wave_members": [
+        6,
+        7
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.057612425880506635,
+        "workspace_s": 0.21312849805690348,
+        "objective_s": 0.006044143810868263,
+        "stage_capture_s": 0.13335367920808494,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007688300916925073,
+            "complete_s": 0.018557586008682847
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010741292499005795,
+            "complete_s": 0.00021872203797101974
+          }
+        },
+        "total_s": 0.37147336290217936
+      }
+    }
+  },
+  "wall_time_s": 9.029228594852611,
+  "outcome": "finite",
+  "score": 0.0008532382364726488,
+  "tell_score": 0.0008532382364726488,
+  "observation_score": 0.0004920791320089258,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a06/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73058a96faeb71f3a97b8889612d4cd3cb206f1004a4be1d15d83e0d2e9fe6d3
+size 2528906

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a07/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d6d1f9ad1063035931fe4377f2e9d4f14721a8d372c44d06fea92a52e160e10
+size 88594

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a07/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80bd14feb6bed64c3e2366831c62b2f9a2befdb35557cbd64e22d2a5178ad09e
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a07/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 7,
+  "global_ask_index": 2592,
+  "normalized": [
+    0.41534445847124307,
+    0.9999798362979946,
+    0.9975825164671923,
+    0.5071005474380169,
+    0.8634235800165044,
+    0.7217572111384127,
+    0.3510859638835936,
+    0.6383691576088225,
+    0.14813806426633064,
+    0.8497306482448787,
+    0.9999839211461511,
+    0.9999644104664362
+  ],
+  "settings": {
+    "spring_y": 41534.445847124305,
+    "object_radius_m": 0.049999193451919784,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549703832066119,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7217572111384127,
+    "ground_friction": 0.7021719277671872,
+    "object_restitution": 0.6383691576088225,
+    "object_friction": 0.2962761285326613,
+    "collision_distance_m": 0.04398922592979515,
+    "drag_damping": 19.999678422923022,
+    "dashpot_damping": 199.99288209328725
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.061647813068703,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 3,
+      "wave_members": [
+        6,
+        7
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05307078408077359,
+        "workspace_s": 0.3057367068249732,
+        "objective_s": 0.005823101149871945,
+        "stage_capture_s": 0.13101570098660886,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00758523098193109,
+            "complete_s": 0.01846400904469192
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010746088810265064,
+            "complete_s": 0.0002358879428356886
+          }
+        },
+        "total_s": 0.46147019788622856
+      }
+    }
+  },
+  "wall_time_s": 8.603577556088567,
+  "outcome": "finite",
+  "score": 0.0008532337402716723,
+  "tell_score": 0.0008532337402716723,
+  "observation_score": 0.0004921323000985699,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a07/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba265c2f6f6bcd76d713b02d45ba4fd4c56f81b8e28dc17ff93bb29a2e04b70
+size 2528894

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a08/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f734f94d041a51f7470a6ef27049bdf3bad71c114ad847a50ffba1d237dd449
+size 88578

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a08/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2a890192533f32be7cebff495390cb89ebc364f2a35ed876350e5f532ca0fc
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a08/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 8,
+  "global_ask_index": 2593,
+  "normalized": [
+    0.4139002484121905,
+    0.9999934162218727,
+    0.998132817246511,
+    0.507111763742922,
+    0.8641143746548735,
+    0.7255573568304557,
+    0.35557175641371047,
+    0.6367710949006534,
+    0.14924350853689897,
+    0.8487588135171321,
+    0.9999953853376103,
+    0.9997963154421246
+  ],
+  "settings": {
+    "spring_y": 41390.02484121905,
+    "object_radius_m": 0.04999973664887491,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045497823462004545,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7255573568304557,
+    "ground_friction": 0.7111435128274209,
+    "object_restitution": 0.6367710949006534,
+    "object_friction": 0.29848701707379793,
+    "collision_distance_m": 0.043950352540685286,
+    "drag_damping": 19.999907706752207,
+    "dashpot_damping": 199.9592630884249
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.08276047394611,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 4,
+      "wave_members": [
+        8,
+        9
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05875797802582383,
+        "workspace_s": 0.22178537119179964,
+        "objective_s": 0.005879673874005675,
+        "stage_capture_s": 0.13091252301819623,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.00811435584910214,
+            "complete_s": 0.018987699877470732
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010135816410183907,
+            "complete_s": 0.00022209808230400085
+          }
+        },
+        "total_s": 0.37796061113476753
+      }
+    }
+  },
+  "wall_time_s": 9.050025428878143,
+  "outcome": "finite",
+  "score": 0.0008532503359307831,
+  "tell_score": 0.0008532503359307831,
+  "observation_score": 0.0004924442126068795,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a08/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f082555abcbd12fa095e6c82631f69ff48632882ed9f0f9d403dfc3822df95
+size 2528898

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a09/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34ad3b31c94ba84bb4618f8e35ad748eabc415580a1985c31d2f16e124eeac9
+size 88578

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a09/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b003a0d84a970958f86d2db5db9be76b13e357bee69f4fb77adab8412bb08b7a
+size 396732

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a09/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 9,
+  "global_ask_index": 2594,
+  "normalized": [
+    0.4151315752357834,
+    0.999996206994348,
+    0.9979619979483753,
+    0.5069851453619347,
+    0.8644252892760282,
+    0.7262585092623757,
+    0.3484548928660936,
+    0.6399190496240837,
+    0.14680864278681316,
+    0.846797557770994,
+    0.9999899936893191,
+    0.9999612797643589
+  ],
+  "settings": {
+    "spring_y": 41513.157523578346,
+    "object_radius_m": 0.049999848279773926,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045488960175335436,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7262585092623757,
+    "ground_friction": 0.6969097857321872,
+    "object_restitution": 0.6399190496240837,
+    "object_friction": 0.2936172855736263,
+    "collision_distance_m": 0.04387190231083976,
+    "drag_damping": 19.99979987378638,
+    "dashpot_damping": 199.99225595287177
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1138,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04545925185084343
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 488
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.08276047394611,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 4,
+      "wave_members": [
+        8,
+        9
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.05419778195209801,
+        "workspace_s": 0.2997659600805491,
+        "objective_s": 0.005877774907276034,
+        "stage_capture_s": 0.12795025599189103,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.007745061069726944,
+            "complete_s": 0.01866681408137083
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010591302998363972,
+            "complete_s": 0.00021951505914330482
+          }
+        },
+        "total_s": 0.452641585143283
+      }
+    }
+  },
+  "wall_time_s": 8.6153899889905,
+  "outcome": "finite",
+  "score": 0.000853826639682525,
+  "tell_score": 0.000853826639682525,
+  "observation_score": 0.0004928032500848843,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a09/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44f55713e9f02faa482ab42fdc35b22d9bf593af8e81e346eccff8b35cba6bf1
+size 2528862

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a10/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d36628df965682bddce7d32b8c8ee06e2ea346643c8729c755cd2d012ca0e69
+size 88582

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a10/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010d74025f655b22be73de6901adb62d1ec1aca79fafa1604f94570504ee25d9
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a10/record.json

@@ -0,0 +1,148 @@
+{
+  "stage": "cma_ask",
+  "generation": 235,
+  "ask_index": 10,
+  "global_ask_index": 2595,
+  "normalized": [
+    0.4140799313938225,
+    0.999999088512501,
+    0.9983354485295616,
+    0.5070483724907893,
+    0.8633863588124655,
+    0.7266539179735453,
+    0.3538399418425623,
+    0.6401283357602678,
+    0.15224943159477528,
+    0.8515572529945393,
+    0.999999929504107,
+    0.9998584188566727
+  ],
+  "settings": {
+    "spring_y": 41407.99313938225,
+    "object_radius_m": 0.04999996354050004,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.045493386074355255,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7266539179735453,
+    "ground_friction": 0.7076798836851246,
+    "object_restitution": 0.6401283357602678,
+    "object_friction": 0.30449886318955055,
+    "collision_distance_m": 0.04406229011978158,
+    "drag_damping": 19.99999859008214,
+    "dashpot_damping": 199.97168377133454
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 5.642047130968422,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 5,
+      "wave_members": [
+        10
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.057435932103544474,
+        "workspace_s": 0.21282125310972333,
+        "objective_s": 0.005840742960572243,
+        "stage_capture_s": 0.12531475792638958,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008771692868322134,
+            "complete_s": 0.019657247932627797
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00014962698332965374,
+            "complete_s": 0.0003092640545219183
+          }
+        },
+        "total_s": 0.3641161760315299
+      }
+    }
+  },
+  "wall_time_s": 6.077069996157661,
+  "outcome": "finite",
+  "score": 0.000853244057075735,
+  "tell_score": 0.000853244057075735,
+  "observation_score": 0.0004924051820140715,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/a10/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f0988da5d113a8c80a13e37e0668bf1fe46746115ceb67fdcc622d27d6b2e6
+size 2528890

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/issued.npy

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fbea7c440c2c0840c4f8eaa08336628ce4168877b36b68ec21d7d3e7f1dac71
+size 1184

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/lifecycle.jsonl

@@ -0,0 +1,48 @@
+{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791685231.1568992, "t_invocation_s": 0.000114191, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685231.157656, "t_invocation_s": 0.000871022, "wave": 0, "members": [0, 1], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685231.5894847, "t_invocation_s": 0.432699897, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05565298884175718, "workspace_s": 0.2137985429726541, "objective_s": 0.005911854095757008, "stage_capture_s": 0.1310616589616984, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00820307107642293, "complete_s": 0.019071738934144378}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010197097435593605, "complete_s": 0.00021879002451896667}}, "total_s": 0.37022864003665745}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685232.1187162, "t_invocation_s": 0.96193121, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.05376112018711865, "workspace_s": 0.3122308498714119, "objective_s": 0.005708685144782066, "stage_capture_s": 0.1278926320374012, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007854962954297662, "complete_s": 0.018748027039691806}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.898305870592594e-05, "complete_s": 0.00021265214309096336}}, "total_s": 0.4649515259079635}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685232.1239908, "t_invocation_s": 0.967205626, "wave": 0, "members": [0, 1]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685240.186518, "t_invocation_s": 9.029732962, "wave": 0, "index": 0, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685240.1990952, "t_invocation_s": 9.042310171, "wave": 0, "index": 1, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685240.230678, "t_invocation_s": 9.073893442, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685240.2604916, "t_invocation_s": 9.103706838, "wave": 0, "commit_order": [0, 1]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685240.2613773, "t_invocation_s": 9.104591979, "wave": 1, "members": [2, 3], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685240.6886475, "t_invocation_s": 9.531862751, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.05780116701498628, "workspace_s": 0.2114054630510509, "objective_s": 0.005711156874895096, "stage_capture_s": 0.12717887409962714, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00807262398302555, "complete_s": 0.01893007499165833}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011230702511966228, "complete_s": 0.0002511299680918455}}, "total_s": 0.3636566479690373}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685241.2034168, "t_invocation_s": 10.046631985, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05353369517251849, "workspace_s": 0.3023641649633646, "objective_s": 0.0055557540617883205, "stage_capture_s": 0.12414138484746218, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007267517037689686, "complete_s": 0.01817661290988326}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.670201689004898e-05, "complete_s": 0.00023281597532331944}}, "total_s": 0.450636314926669}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685241.2086656, "t_invocation_s": 10.051880527, "wave": 1, "members": [2, 3]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685249.2665102, "t_invocation_s": 18.109725648, "wave": 1, "index": 2, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685249.279319, "t_invocation_s": 18.122534032, "wave": 1, "index": 3, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685249.3061786, "t_invocation_s": 18.149393912, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685249.3338237, "t_invocation_s": 18.177039068, "wave": 1, "commit_order": [2, 3]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685249.334645, "t_invocation_s": 18.177859978, "wave": 2, "members": [4, 5], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685249.77039, "t_invocation_s": 18.613605034, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.057132625952363014, "workspace_s": 0.2190147959627211, "objective_s": 0.005737632047384977, "stage_capture_s": 0.12870798190124333, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007919033989310265, "complete_s": 0.01879272796213627}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010402314364910126, "complete_s": 0.00021787802688777447}}, "total_s": 0.37265661894343793}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685250.292961, "t_invocation_s": 19.136175866, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05354975303635001, "workspace_s": 0.301910615991801, "objective_s": 0.005922955926507711, "stage_capture_s": 0.13153757504187524, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007908556144684553, "complete_s": 0.018802556209266186}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010160612873733044, "complete_s": 0.00021980307064950466}}, "total_s": 0.45855502504855394}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685250.2982385, "t_invocation_s": 19.141453502, "wave": 2, "members": [4, 5]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685258.3567152, "t_invocation_s": 27.199930581, "wave": 2, "index": 4, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685258.3696258, "t_invocation_s": 27.212841008, "wave": 2, "index": 5, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685258.40266, "t_invocation_s": 27.245875205, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685258.4349034, "t_invocation_s": 27.278118697, "wave": 2, "commit_order": [4, 5]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685258.4357655, "t_invocation_s": 27.278980428, "wave": 3, "members": [6, 7], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685258.870856, "t_invocation_s": 27.714071109, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.057612425880506635, "workspace_s": 0.21312849805690348, "objective_s": 0.006044143810868263, "stage_capture_s": 0.13335367920808494, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007688300916925073, "complete_s": 0.018557586008682847}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010741292499005795, "complete_s": 0.00021872203797101974}}, "total_s": 0.37147336290217936}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685259.3961194, "t_invocation_s": 28.239334547, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05307078408077359, "workspace_s": 0.3057367068249732, "objective_s": 0.005823101149871945, "stage_capture_s": 0.13101570098660886, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00758523098193109, "complete_s": 0.01846400904469192}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010746088810265064, "complete_s": 0.0002358879428356886}}, "total_s": 0.46147019788622856}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685259.4013374, "t_invocation_s": 28.244552346, "wave": 3, "members": [6, 7]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685267.4715137, "t_invocation_s": 36.314729116, "wave": 3, "index": 6, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685267.4855118, "t_invocation_s": 36.328726522, "wave": 3, "index": 7, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685267.5140898, "t_invocation_s": 36.357305153, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685267.5421007, "t_invocation_s": 36.385315983, "wave": 3, "commit_order": [6, 7]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685267.5430224, "t_invocation_s": 36.386237421, "wave": 4, "members": [8, 9], "occupancy": 2}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685267.9858966, "t_invocation_s": 36.829111681, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05875797802582383, "workspace_s": 0.22178537119179964, "objective_s": 0.005879673874005675, "stage_capture_s": 0.13091252301819623, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00811435584910214, "complete_s": 0.018987699877470732}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010135816410183907, "complete_s": 0.00022209808230400085}}, "total_s": 0.37796061113476753}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685268.5031419, "t_invocation_s": 37.346356976, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.05419778195209801, "workspace_s": 0.2997659600805491, "objective_s": 0.005877774907276034, "stage_capture_s": 0.12795025599189103, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007745061069726944, "complete_s": 0.01866681408137083}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010591302998363972, "complete_s": 0.00021951505914330482}}, "total_s": 0.452641585143283}, "object_springs": 18544, "controller_springs": 1138}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685268.5083718, "t_invocation_s": 37.351586583, "wave": 4, "members": [8, 9]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685276.5995574, "t_invocation_s": 45.442772489, "wave": 4, "index": 8, "arrival": 0}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685276.6123157, "t_invocation_s": 45.455530593, "wave": 4, "index": 9, "arrival": 1}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685276.6414554, "t_invocation_s": 45.484670808, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685276.6701424, "t_invocation_s": 45.513357722, "wave": 4, "commit_order": [8, 9]}
+{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791685276.6709979, "t_invocation_s": 45.514212528, "wave": 5, "members": [10], "occupancy": 1}
+{"invocation": 1, "kind": "prepared", "t_unix_s": 1791685277.0987632, "t_invocation_s": 45.941978573, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.057435932103544474, "workspace_s": 0.21282125310972333, "objective_s": 0.005840742960572243, "stage_capture_s": 0.12531475792638958, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008771692868322134, "complete_s": 0.019657247932627797}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00014962698332965374, "complete_s": 0.0003092640545219183}}, "total_s": 0.3641161760315299}, "object_springs": 18544, "controller_springs": 1139}
+{"invocation": 1, "kind": "resident", "t_unix_s": 1791685277.1040099, "t_invocation_s": 45.947224761, "wave": 5, "members": [10]}
+{"invocation": 1, "kind": "commit", "t_unix_s": 1791685282.7543995, "t_invocation_s": 51.597614799, "wave": 5, "index": 10, "arrival": 0}
+{"invocation": 1, "kind": "released", "t_unix_s": 1791685282.7595646, "t_invocation_s": 51.602779553, "wave": 5, "drained": {"10": "drained"}}
+{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791685282.78686, "t_invocation_s": 51.630075422, "wave": 5, "commit_order": [10]}
+{"invocation": 1, "kind": "told", "t_unix_s": 1791685282.7889986, "t_invocation_s": 51.632213534, "generation": 235, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 2570}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/strategy_after_ask.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e1473a0075e18f62aed7323d5cda29517fbdb05d5c6154be070fdbd9257493
+size 31901

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/strategy_after_tell.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1bd52da2093b483a106eafe9788e3dce1fbfcc8e708e6b738c8c9e881053f42
+size 28606

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g235/told.json

@@ -0,0 +1,60 @@
+{
+  "generation": 235,
+  "told_scores": [
+    0.0008533602889574819,
+    0.0008532352616729275,
+    0.0008530994825235373,
+    0.0008533585668968742,
+    0.0008532298198049222,
+    0.00085323311154595,
+    0.0008532382364726488,
+    0.0008532337402716723,
+    0.0008532503359307831,
+    0.000853826639682525,
+    0.000853244057075735
+  ],
+  "physical_failures": 0,
+  "physical_failures_total": 0,
+  "issued_asks_total": 2596,
+  "told_asks_total": 2596,
+  "champion": {
+    "generation": 233,
+    "ask_index": 7,
+    "global_ask_index": 2570,
+    "score": 0.0008530964997662003,
+    "observation_score": 0.0004923117951870054,
+    "normalized": [
+      0.41451394539949593,
+      0.999947101827397,
+      0.9979286746810739,
+      0.5070667468351723,
+      0.8643444557148319,
+      0.7245599643118166,
+      0.3441727378487606,
+      0.633674614058437,
+      0.14881064311055037,
+      0.8465584958764368,
+      0.9999942221338121,
+      0.9999798503497552
+    ],
+    "settings": {
+      "spring_y": 41451.39453994959,
+      "object_radius_m": 0.04999788407309588,
+      "object_max_neighbours": 49,
+      "controller_radius_m": 0.045494672278462066,
+      "controller_max_neighbours": 70,
+      "ground_restitution": 0.7245599643118166,
+      "ground_friction": 0.6883454756975212,
+      "object_restitution": 0.633674614058437,
+      "object_friction": 0.29762128622110073,
+      "collision_distance_m": 0.043862339835057475,
+      "drag_damping": 19.99988444267624,
+      "dashpot_damping": 199.99597006995106
+    }
+  },
+  "pycma": {
+    "countiter": 236,
+    "countevals": 2596,
+    "sigma": 0.002613879192782335
+  }
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g236/a00/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98e858f78de22633dd22341ce402aae5642663afac55b5f2a46984a1cb9f45f
+size 88590

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g236/a00/model/topology.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04abc56b984727ec23fda37ce54f8cb039cdf588d79dd34cbfa3b3c2df816f80
+size 396748

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g236/a00/record.json

@@ -0,0 +1,149 @@
+{
+  "stage": "cma_ask",
+  "generation": 236,
+  "ask_index": 0,
+  "global_ask_index": 2596,
+  "normalized": [
+    0.4144383689701596,
+    0.9999645897330033,
+    0.9980394268007369,
+    0.5070863246568778,
+    0.8646442500117494,
+    0.7247507294109206,
+    0.34950999366409335,
+    0.6343836631985538,
+    0.14880674294978802,
+    0.8449765325635866,
+    0.999996803411382,
+    0.9999985201294629
+  ],
+  "settings": {
+    "spring_y": 41443.836897015964,
+    "object_radius_m": 0.049998583589320134,
+    "object_max_neighbours": 49,
+    "controller_radius_m": 0.04549604272598145,
+    "controller_max_neighbours": 70,
+    "ground_restitution": 0.7247507294109206,
+    "ground_friction": 0.6990199873281867,
+    "object_restitution": 0.6343836631985538,
+    "object_friction": 0.29761348589957604,
+    "collision_distance_m": 0.04379906130254347,
+    "drag_damping": 19.99993606822764,
+    "dashpot_damping": 199.99970402589258
+  },
+  "topology": {
+    "object_springs": 18544,
+    "controller_springs": 1139,
+    "object_rest_min_max_m": [
+      0.0004799506568815559,
+      0.04033707454800606
+    ],
+    "controller_rest_min_max_m": [
+      0.0061761378310620785,
+      0.04549137130379677
+    ],
+    "isolated_object_nodes": 0,
+    "attached_object_nodes": 220,
+    "controls_without_attachment": 0,
+    "attachments_by_hand": {
+      "hand_A": 650,
+      "hand_B": 489
+    }
+  },
+  "execution": {
+    "device": "cuda:0",
+    "transition_capture": true,
+    "objective_capture": true,
+    "wall_time_s": 8.151138521032408,
+    "transaction": {
+      "stage": "cma",
+      "populations": {
+        "num_original": 369,
+        "num_surface": 724,
+        "num_all": 729
+      },
+      "clock": {
+        "period_s": "1/30",
+        "num_substeps": 667,
+        "substep_dt_s": 4.9975012493753125e-05,
+        "consumed_substep_dt_f32": 4.997501309844665e-05,
+        "consumed_interval_minus_period_s": 4.0333058374623455e-10,
+        "transitions": 491,
+        "consumed_total_minus_period_total_s": 1.9803531661940118e-07,
+        "source_literal_period_s_not_used": 0.033350000000000005
+      },
+      "transition": {
+        "forward_reduction": "atomic",
+        "backward_reduction": "atomic",
+        "capture": true
+      },
+      "history_active": true,
+      "forwards": 491,
+      "backwards": 0,
+      "updates": 0,
+      "reset": "q0/v0 and fresh objective history",
+      "carry": "same detached pre-update endpoint",
+      "supervision": {
+        "P": 1258,
+        "pairs": 369,
+        "D_C": 1136,
+        "D_T": 285,
+        "targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
+      }
+    },
+    "workspace_reused": false,
+    "dynamics_graph_builds": 1,
+    "loss_graph_builds": 1,
+    "loss_host_readbacks": 982,
+    "warp_version": "1.16.0",
+    "warm_launches": {
+      "dynamics": 1,
+      "objective": 4
+    },
+    "candidate_scheduling": {
+      "mode": "resident_waves",
+      "configured_max_width": 2,
+      "invocation": 1,
+      "wave": 0,
+      "wave_members": [
+        0,
+        1
+      ],
+      "earlier_asks_pending_at_commit": [],
+      "preparation": {
+        "decode_topology_model_s": 0.1368134969379753,
+        "workspace_s": 0.22519232099875808,
+        "objective_s": 0.005671459948644042,
+        "stage_capture_s": 0.1295575110707432,
+        "warm_launch": {
+          "dynamics": {
+            "launched": true,
+            "graph_exec_existed": false,
+            "instantiate_and_enqueue_s": 0.008199797011911869,
+            "complete_s": 0.019068201072514057
+          },
+          "objective": {
+            "launched": 4,
+            "graph_exec_existed": {
+              "clear": false,
+              "select": false,
+              "loss": false,
+              "history": false
+            },
+            "instantiate_and_enqueue_s": 0.00010358216241002083,
+            "complete_s": 0.00023068604059517384
+          }
+        },
+        "total_s": 0.37988944887183607
+      }
+    }
+  },
+  "wall_time_s": 9.118389878887683,
+  "outcome": "finite",
+  "score": 0.0008530969299812746,
+  "tell_score": 0.0008530969299812746,
+  "observation_score": 0.0004923283734638386,
+  "completed_transitions": 491,
+  "physical_failure": null,
+  "trajectory_retained": false
+}

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g236/a00/rollout.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba520214793c7d60a3c36c7bb4c50065d897e5bf1243540e103a560470ebcff8
+size 2528902

sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g236/a01/model/model.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac4ba08b6d49808a281ce137668d433375540723590381a2016b3861d496380
+size 88574