sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo: package_final batch 1/1

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo/README.md

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+# lab-a-rt05-photo
+
+RT refit_05 photometric fit from lab-a-rt05-cma250 c0500: photometric CMA (100 generations) then photometric Adam (500 traversals); BEST c0246.
+
+| Field | Value |
+|---|---|
+| Status | complete |
+| Identity | session_id `session_20260921_225630_786148`, window_id `sync0402-0893` |
+| Parent | `lab-a-rt05-cma250` adam/c0500 (photometric parent traversal snapshot) |
+| Stages | cma, photometric_adam |
+| Budget (completed/configured) | cma:  (completed_generations 100, issued_asks 800, told_asks 800, physical_failures 0); photometric_adam: traversals 500/500, updates 245500/245500 |
+| Labels | BEST adam/c0246, FINAL adam/c0500 |
+| Code revision(s) | `e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d`; dirty tree by stage: cma reported dirty, photometric_adam not recorded |
+| Checkpoint rows | 4360 (`checkpoints.tsv`) |
+| Archived native records | 11,611 per-step history files in 83 tar archives (owner D25); `archives/members.json` lists each member's native path and sha256, and `checkpoints.tsv` still lists every checkpoint file |
+
+## Stages
+
+- **cma** (`native/cma/manifest.json`): "mean of all four views per transition, then mean over K; RP1 active Q5 objective"
+- **photometric_adam** (`native/adam/manifest.json`): {"objective_id": "real_rgbd_active_photometric_v1", "source": "U gs_train.py:128-188 + loss_utils.py (PhysTwin 81c718790a37e5e0102eb77af2c6edd34a9db25f)", "weights": {"lambda_dssim": 0.2, "lambda_seg": 1.0, "lambda_depth": 0.001}, "rgb_ssim": "fused_ssim (U gaussian_splatting/submodules/fused-ssim, padding same, train True)", "seg_ssim": "reference ssim (U loss_utils.ssim, 11x11 window sigma 1.5, 
+  - stiffness update: clamp at use only: this record predates or does not enable the projected update; the history is not reinterpreted as projected
+
+## Capabilities
+
+- **portable_use**: native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending; photometric rendering also needs the recorded initial appearance and binding listed in dependencies.json
+- **interrupted_run_recovery**: unsupported for this publication (owner D21): every photometric checkpoint and its continuation state (optimizer moments, cursor, q/v and appearance carry, CMA strategy and asks) is retained, and its resume inputs are published or referenced (D15-D20), but no photometric restore is implemented or claimed
+- **extend_completed_budget**: not supported: the native protocols refuse to extend a finished run's horizon
+- **full_reproduction**: not claimed (D3); dirty-state and environment limits are listed under code
+- **continuation_under_projected_update**: not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics
+
+## Limitations
+
+- continuing this fit re-hashes author weights TAPNext++ tapnextpp_512 checkpoint (Google DeepMind TAPNet) (/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt); they are not published here (dependencies.json third_party_weights names their source and sha256)
+- historical depth: camera 12540311 recorded stream 5429f2cd45c9 is the original content of sessions/session_20260921_225630_786148/videos/zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by 80f9c31528de at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path
+- historical depth: camera 12933256 recorded stream 6ad35616256c is the original content of sessions/session_20260921_225630_786148/videos/zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by e6b07d4e756e at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path
+- historical depth: camera 17736741 recorded stream ba88326f4263 is the original content of sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by a1d25bde7757 at DAIRLab/phystwin_dataset@6ce5a6472649 (original was the remote content at c8efd5c26071); a pin must name the original, not the current path
+- historical depth: camera 23007103 recorded stream ffb5bc058a27 is the original content of sessions/session_20260921_225630_786148/videos/zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by e3267dd44f22 at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path
+- photometric_adam: records name e7e8b0c6d9a5 but none states whether the working tree was clean when this stage ran
+- cma: a record reports a dirty working tree; the uncommitted diff was not saved, so the exact executed source is not recoverable
+
+Native records under `native/` are authoritative; `run.json`, `checkpoints.tsv` and `dependencies.json` index them. License: see the repository `LICENSE` and card.

sessions/session_20260921_225630_786148/runs/lab-a-rt05-photo/run.json

@@ -0,0 +1,650 @@
+{
+  "aliases": [
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/cma/generations/g073/a04/model/model.npz",
+      "path": "native/cma/winner/model/model.npz",
+      "relation": "byte copy of the committed ask (cma._stage_winner)",
+      "role": "CMA winner"
+    },
+    {
+      "bytes_identical": true,
+      "duplicate_of": "native/cma/generations/g073/a04/model/topology.npz",
+      "path": "native/cma/winner/model/topology.npz",
+      "relation": "byte copy of the committed ask (cma._stage_winner)",
+      "role": "CMA winner"
+    }
+  ],
+  "archived_native_records": {
+    "archives": 83,
+    "history_archives": 83,
+    "history_members": 11611,
+    "index": "archives/members.json",
+    "member_bytes": 20610065834,
+    "members": 11611,
+    "rule": "Owner decision D25 (2026-11-01): the Hub refuses repositories above 20,000 files, so this run's per-step history (CMA generations and candidates, Adam snapshots, continuation states, update rows and frozen scores; or Deform360 pass states, records and scores) is published inside these uncompressed tar archives, up to 256 MiB of members each. Member bytes are unchanged and checkpoints.tsv still lists every file with its sha256; extract each member to <run dir>/native/<member> to restore the native layout (scripts/phystwin_publish.py fetch extracts the members a checkpoint needs, and --all-checkpoints extracts all)."
+  },
+  "capabilities": {
+    "continuation_under_projected_update": "not available: this run's stiffness history is clamp-at-use only; continuing it under the projected rule would change its optimizer semantics",
+    "extend_completed_budget": "not supported: the native protocols refuse to extend a finished run's horizon",
+    "full_reproduction": "not claimed (D3); dirty-state and environment limits are listed under code",
+    "interrupted_run_recovery": "unsupported for this publication (owner D21): every photometric checkpoint and its continuation state (optimizer moments, cursor, q/v and appearance carry, CMA strategy and asks) is retained, and its resume inputs are published or referenced (D15-D20), but no photometric restore is implemented or claimed",
+    "portable_use": "native model arrays retained; fresh use (canonical q0/v0, zero updates) from a clean local copy is implemented and validated by PR4 on representative checkpoints; Hub fetch pending; photometric rendering also needs the recorded initial appearance and binding listed in dependencies.json"
+  },
+  "checkpoints": {
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+      "adam_traversal_snapshot": 501,
+      "adam_zero_update_check": 1,
+      "cma_ask_error_record": 3,
+      "cma_candidate": 800,
+      "cma_generation_state": 100,
+      "cma_to_adam_handoff": 1,
+      "cma_winner": 1,
+      "model_initialization": 2,
+      "photometric_parent_p0": 1
+    },
+    "rows": 4360,
+    "table": "checkpoints.tsv"
+  },
+  "code": {
+    "belt_perception_commits": [
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+    ],
+    "dirty_reported": true,
+    "limitations": [
+      "photometric_adam: records name e7e8b0c6d9a5 but none states whether the working tree was clean when this stage ran",
+      "cma: a record reports a dirty working tree; the uncommitted diff was not saved, so the exact executed source is not recoverable"
+    ],
+    "observations": [
+      {
+        "key": "code_revision",
+        "scope": "cma",
+        "source": "native/cma/manifest.json",
+        "value": {
+          "dirty": true,
+          "head": "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        }
+      },
+      {
+        "key": "revision",
+        "scope": "run",
+        "source": "native/campaign.json",
+        "value": "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+      },
+      {
+        "key": "code_revision",
+        "scope": "cma",
+        "source": "native/cma/resume_1.json",
+        "value": {
+          "dirty": false,
+          "head": "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        }
+      },
+      {
+        "key": "code_revision",
+        "scope": "cma",
+        "source": "native/cma/resume_2.json",
+        "value": {
+          "dirty": false,
+          "head": "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        }
+      },
+      {
+        "key": "code_revision",
+        "scope": "cma",
+        "source": "native/cma/resume_3.json",
+        "value": {
+          "dirty": false,
+          "head": "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        }
+      }
+    ],
+    "stages": {
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+        "belt_perception_commits": [
+          "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        ],
+        "dirty_reported": true,
+        "sources": [
+          "native/cma/manifest.json:code_revision",
+          "native/campaign.json:revision",
+          "native/cma/resume_1.json:code_revision",
+          "native/cma/resume_2.json:code_revision",
+          "native/cma/resume_3.json:code_revision"
+        ]
+      },
+      "photometric_adam": {
+        "belt_perception_commits": [
+          "e7e8b0c6d9a5d7aa98d0c5f24b1d792f4503429d"
+        ],
+        "dirty_reported": null,
+        "sources": [
+          "native/campaign.json:revision"
+        ]
+      }
+    }
+  },
+  "description": "RT refit_05 photometric fit from lab-a-rt05-cma250 c0500: photometric CMA (100 generations) then photometric Adam (500 traversals); BEST c0246.",
+  "environment": {
+    "native/adam/manifest.json:identity.execution": {
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+        "sha256": "7c450580c24828b91baef153385699295f17f11254d76d0af521c55dfb361cd0"
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+      "torch_cuda": "12.8",
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+        "numpy": "2.4.4",
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+        "warp-lang": "1.16.0"
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+    "native/campaign.json:device_identities": {
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+        "name": "NVIDIA GeForce RTX 4090",
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+      }
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+  },
+  "evidence_files": [
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+    "evidence/photometric_fit_01/inputs/canonical_binding.npz",
+    "evidence/photometric_fit_01/inputs/contract.json",
+    "evidence/photometric_fit_01/qualification_20261004/qualification_summary.json"
+  ],
+  "family": "real_rgbd_npz",
+  "gaps": [],
+  "identity": {
+    "session_id": "session_20260921_225630_786148",
+    "window_id": "sync0402-0893"
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+    {
+      "preprocessing": "RT photometric observations and appearance (see dependencies.json)",
+      "role": "photometric window",
+      "session_id": "session_20260921_225630_786148",
+      "window_id": "sync0402-0893"
+    }
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+  "labels": {
+    "BEST": {
+      "key": "best_candidate",
+      "metric": "RT photometric active full-window mean",
+      "score": 0.007460328466154684,
+      "source": "native/adam/best.json",
+      "status": "final",
+      "value": "adam/c0246"
+    },
+    "FINAL": {
+      "key": "final_candidate",
+      "note": "final traversal snapshot at the planned horizon (no FINAL export written)",
+      "source": "native/adam/training_complete.json",
+      "value": "adam/c0500"
+    }
+  },
+  "license": {
+    "attribution": null,
+    "id": "mit",
+    "scope": "MIT (owner decision D9) applies to the project-produced fit packages in this repository: native checkpoints, run records and the generated metadata. It does not relicense the linked DAIRLab/phystwin_dataset recordings, which declare no license, or any third-party code or data."
+  },
+  "limitations": [
+    "continuing this fit re-hashes author weights TAPNext++ tapnextpp_512 checkpoint (Google DeepMind TAPNet) (/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt); they are not published here (dependencies.json third_party_weights names their source and sha256)",
+    "historical depth: camera 12540311 recorded stream 5429f2cd45c9 is the original content of sessions/session_20260921_225630_786148/videos/zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by 80f9c31528de at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path",
+    "historical depth: camera 12933256 recorded stream 6ad35616256c is the original content of sessions/session_20260921_225630_786148/videos/zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by e6b07d4e756e at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path",
+    "historical depth: camera 17736741 recorded stream ba88326f4263 is the original content of sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by a1d25bde7757 at DAIRLab/phystwin_dataset@6ce5a6472649 (original was the remote content at c8efd5c26071); a pin must name the original, not the current path",
+    "historical depth: camera 23007103 recorded stream ffb5bc058a27 is the original content of sessions/session_20260921_225630_786148/videos/zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth, replaced there by e3267dd44f22 at DAIRLab/phystwin_dataset@c9fa16c0c8ac (original was the remote content at b61531e2f70d); a pin must name the original, not the current path",
+    "photometric_adam: records name e7e8b0c6d9a5 but none states whether the working tree was clean when this stage ran",
+    "cma: a record reports a dirty working tree; the uncommitted diff was not saved, so the exact executed source is not recoverable"
+  ],
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+      "run_id": "lab-a-rt05-cma250"
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+    "rule": "native/<path relative to the recorded root>; native records keep recorded paths"
+  },
+  "repo_id": "DAIRLab/phystwin_models",
+  "run_id": "lab-a-rt05-photo",
+  "schema": "phystwin_model_run_v1",
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+    {
+      "active_coordinates": {
+        "key": "protocol.map.coordinates (each maps to a leaf or setting)",
+        "source": "native/cma/manifest.json",
+        "value": [
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+          "ground_friction",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "budget": {
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+            "source": "native/cma/result.json",
+            "value": null
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+            "key": "completed_generations",
+            "source": "native/cma/result.json",
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+            "value": 0
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+          "status": {
+            "key": "status",
+            "source": "native/cma/result.json",
+            "value": "winner"
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+            "key": "stop_reason",
+            "source": "native/cma/result.json",
+            "value": "max_generations"
+          },
+          "told_asks": {
+            "key": "told_asks",
+            "source": "native/cma/result.json",
+            "value": 800
+          }
+        },
+        "configured": {
+          "generations": {
+            "key": "protocol.max_generations",
+            "source": "native/cma/manifest.json",
+            "value": 100
+          }
+        }
+      },
+      "carried_fixed": {
+        "key": "protocol.map.carried_inactive",
+        "source": "native/cma/manifest.json",
+        "value": [
+          "object_restitution",
+          "object_friction",
+          "collision_distance_m"
+        ]
+      },
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+        "source": "native/cma/manifest.json",
+        "value": []
+      },
+      "kind": "photometric_cma",
+      "manifest": "native/cma/manifest.json",
+      "objective": {
+        "key": "protocol.score",
+        "source": "native/cma/manifest.json",
+        "value": "mean of all four views per transition, then mean over K; RP1 active Q5 objective"
+      },
+      "schema": "real_rgbd_photometric_cma_v1",
+      "searched_coordinates": {
+        "key": "protocol.map.coordinates",
+        "source": "native/cma/manifest.json",
+        "value": [
+          "ground_restitution",
+          "ground_friction",
+          "drag_damping",
+          "dashpot_damping"
+        ]
+      },
+      "settings": {
+        "backend": {
+          "key": "strategy.backend_id",
+          "source": "native/cma/manifest.json",
+          "value": "pycma_4_4_4_serial_ask_tell_v1"
+        },
+        "dimension": {
+          "key": "strategy.dimension",
+          "source": "native/cma/manifest.json",
+          "value": 4
+        },
+        "initial_sigma": {
+          "key": "strategy.initial_sigma",
+          "source": "native/cma/manifest.json",
+          "value": 0.16666666666666666
+        },
+        "population_size": {
+          "key": "strategy.population_size",
+          "source": "native/cma/manifest.json",
+          "value": 8
+        },
+        "seed": {
+          "key": "strategy.seed",
+          "source": "native/cma/manifest.json",
+          "value": 42
+        },
+        "stopping": {
+          "key": "protocol.stopping",
+          "source": "native/cma/manifest.json",
+          "value": "native es.stop() at loop head after first generation; else generation cap"
+        }
+      },
+      "stage": "cma",
+      "supervision": {
+        "key": "supervision",
+        "source": "native/cma/manifest.json",
+        "value": null
+      }
+    },
+    {
+      "best_metric": {
+        "key": "protocol.best_metric",
+        "source": "native/adam/manifest.json",
+        "value": "RT photometric active full-window mean"
+      },
+      "budget": {
+        "completed": {
+          "traversals": {
+            "key": "complete_traversals",
+            "source": "native/adam/training_complete.json",
+            "value": 500
+          },
+          "updates": {
+            "key": "total_updates",
+            "source": "native/adam/training_complete.json",
+            "value": 245500
+          }
+        },
+        "configured": {
+          "traversals": {
+            "key": "protocol.complete_traversals",
+            "source": "native/adam/manifest.json",
+            "value": 500
+          },
+          "updates": {
+            "key": "protocol.complete_traversals * protocol.updates_per_traversal",
+            "source": "native/adam/manifest.json",
+            "value": 245500
+          },
+          "updates_per_traversal": {
+            "key": "protocol.updates_per_traversal",
+            "source": "native/adam/manifest.json",
+            "value": 491
+          }
+        }
+      },
+      "manifest": "native/adam/manifest.json",
+      "objective": {
+        "key": "identity.inputs.objective",
+        "source": "native/adam/manifest.json",
+        "value": {
+          "depth_rule": "q5_valid_indicator_numerator",
+          "depth_target": "stored uint16 / 1000.0 (float64), masked by 1[O > 0.5]",
+          "fused_ssim_binary_sha256": "93e6d3dfc8b5adb08b925845dead7fc299ecc85fc7bf4936e3f9c022d057a9a8",
+          "fused_ssim_module": "/mnt/data0/magna/belt_perception_wt_rt_photo_execute_20261004/.venv/lib/python3.11/site-packages/fused_ssim/__init__.py",
+          "fused_ssim_wrapper_sha256": "c4a9caf98599b378050d1aa258a0b5d8b5817635bc5aefa29ab6893f442490bf",
+          "masking": "rendered x (1 - H); observed RGB x O; observed depth x 1[O > 0.5]",
+          "means": "full image, all channels",
+          "objective_id": "real_rgbd_active_photometric_v1",
+          "rgb_ssim": "fused_ssim (U gaussian_splatting/submodules/fused-ssim, padding same, train True)",
+          "seg_ssim": "reference ssim (U loss_utils.ssim, 11x11 window sigma 1.5, zero padding)",
+          "source": "U gs_train.py:128-188 + loss_utils.py (PhysTwin 81c718790a37e5e0102eb77af2c6edd34a9db25f)",
+          "view_aggregation": "arithmetic mean over all supervising views",
+          "weights": {
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+            "lambda_dssim": 0.2,
+            "lambda_seg": 1.0
+          }
+        }
+      },
+      "optimizer": {
+        "betas": {
+          "key": "protocol.betas",
+          "source": "native/adam/manifest.json",
+          "value": [
+            0.9,
+            0.99
+          ]
+        },
+        "eps": {
+          "key": "protocol.eps",
+          "source": "native/adam/manifest.json",
+          "value": 1e-08
+        },
+        "lr": {
+          "key": "protocol.lr",
+          "source": "native/adam/manifest.json",
+          "value": 0.001
+        },
+        "optimizer": {
+          "key": "protocol.optimizer",
+          "source": "native/adam/manifest.json",
+          "value": null
+        },
+        "scheduler": {
+          "key": "protocol.scheduler",
+          "source": "native/adam/manifest.json",
+          "value": null
+        },
+        "weight_decay": {
+          "key": "protocol.weight_decay",
+          "source": "native/adam/manifest.json",
+          "value": null
+        }
+      },
+      "parameters": {
+        "leaf_decision": {
+          "key": "protocol.leaf_decision",
+          "source": "native/adam/manifest.json",
+          "value": "Q7 (A) 2026-09-25: the R7/source leaf set (every object and attachment log_spring_y, raw ground restitution and friction; inactive object-contact leaves carried with zero gradient asserted)"
+        },
+        "leaf_set_contract": {
+          "key": "contract.adam_leaf_set",
+          "source": "native/cma/manifest.json",
+          "value": {
+            "decision": "Q7 (A) 2026-09-25: the R7/source leaf set (every object and attachment log_spring_y, raw ground restitution and friction; inactive object-contact leaves carried with zero gradient asserted)",
+            "frozen": [
+              "drag_damping",
+              "dashpot_damping",
+              "collision_distance_m",
+              "topology",
+              "rests",
+              "masses",
+              "attachments",
+              "q0/v0",
+              "controls",
+              "clock"
+            ],
+            "initialization": "exact photometric CMA winner arrays after a passed zero-update handoff",
+            "logged_activity": [
+              "raw_ground_restitution",
+              "raw_ground_friction"
+            ],
+            "optimizer_leaves": [
+              "log_spring_y",
+              "raw_ground_restitution",
+              "raw_ground_friction",
+              "raw_object_restitution",
+              "raw_object_friction"
+            ],
+            "zero_gradient_asserted": [
+              "raw_object_restitution",
+              "raw_object_friction"
+            ]
+          }
+        },
+        "optimizer_leaves": {
+          "key": "protocol.leaves",
+          "source": "native/adam/manifest.json",
+          "value": [
+            "log_spring_y",
+            "raw_ground_restitution",
+            "raw_ground_friction",
+            "raw_object_restitution",
+            "raw_object_friction"
+          ]
+        }
+      },
+      "schema": "real_rgbd_photometric_adam_v1",
+      "seed": {
+        "reason": "the Adam stage records no random seed; its traversal order is chronological",
+        "searched": [
+          "native/adam/manifest.json"
+        ],
+        "value": null
+      },
+      "stage": "photometric_adam",
+      "stiffness_update": {
+        "key": "protocol.projected_log_y",
+        "source": "native/adam/manifest.json",
+        "value": "clamp at use only: this record predates or does not enable the projected update; the history is not reinterpreted as projected"
+      }
+    }
+  ],
+  "status": {
+    "completion_evidence": [
+      "native/adam/training_complete.json",
+      "native/adam/best.json",
+      "native/cma/result.json"
+    ],
+    "label": "complete",
+    "note": null
+  },
+  "unknowns": []
+}