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Use `wandb login --relogin` to force relogin +wandb: setting up run ec45419db5b8489f +wandb: Tracking run with wandb version 0.28.2 +wandb: Run data is saved locally in /mnt/data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260923_063921-ec45419db5b8489f +wandb: Run `wandb offline` to turn off syncing. +wandb: Syncing run real-rgbd-preflight-20260923 +wandb: โญ๏ธ View project at https://wandb.ai/serialexperimentsleon/belt_perception +wandb: ๐Ÿš€ View run at https://wandb.ai/serialexperimentsleon/belt_perception/runs/ec45419db5b8489f +wandb: WARNING Symlinked 1 file into the W&B run directory; call wandb.save again to sync new files. +Process SpawnProcess-1: +Traceback (most recent call last): + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/process.py", line 314, in _bootstrap + self.run() + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/process.py", line 108, in run + self._target(*self._args, **self._kwargs) + File "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923/belt_perception/sim_experiments/learning/photometric_observer.py", line 474, in _wandb_worker + _publish_journal(config, events, ready, directory, wandb) + File "/mnt/data0/magna/belt_perception_wt_real_rgbd_full_fit_20260923/belt_perception/sim_experiments/learning/photometric_observer.py", line 448, in _publish_journal + stopping = events.get(timeout=.1) is None + ^^^^^^^^^^^^^^^^^^^^^^ + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/queues.py", line 113, in get + if not self._poll(timeout): + ^^^^^^^^^^^^^^^^^^^ + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/connection.py", line 257, in poll + return self._poll(timeout) + ^^^^^^^^^^^^^^^^^^^ + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/connection.py", line 440, in _poll + r = wait([self], timeout) + ^^^^^^^^^^^^^^^^^^^^^ + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/multiprocessing/connection.py", line 948, in wait + ready = selector.select(timeout) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/home/magna/.local/share/uv/python/cpython-3.11.14-linux-x86_64-gnu/lib/python3.11/selectors.py", line 415, in select + fd_event_list = self._selector.poll(timeout) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +KeyboardInterrupt +wandb: +wandb: ๐Ÿš€ View run real-rgbd-preflight-20260923 at: https://wandb.ai/serialexperimentsleon/belt_perception/runs/ec45419db5b8489f +wandb: Find logs at: ../../../data2/magna/belt_perception_shared/tool_state/wandb/runs/wandb/run-20260923_063921-ec45419db5b8489f/logs +Traceback (most recent call last): + File 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+size 369164 diff --git a/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/handoff_qualification.md b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/handoff_qualification.md new file mode 100644 index 0000000000000000000000000000000000000000..17b023799b4dfcc1a636d28d9be53865dedf5053 --- /dev/null +++ b/sessions/session_20260921_225630_786148/runs/lab-a-initial-20260923/native/preflight/handoff_qualification.md @@ -0,0 +1,9 @@ +# Real-session CUDA handoff qualification (decision before final CMA winner) + +The reviewed R5 default numerical tolerances were qualified on small fixtures, not this recording. The exact 491-transition center model/rollout was retained by R5 before any final winner was known. Two independent full-window three-stage replays of that *same saved center model* under CUDA showed CMA mean-score relative differences of 0.079% and 0.132%, while the largest per-step position and velocity differences were 4.50 cm and 2.69 m/s. Frozen and zero-update Adam observation-score differences relative to the scored CMA C+T were at most about 0.21%. Both center replays had the same exact saved model/settings, completed all 491 transitions, and gave frozen/Adam A=0. The per-step divergence is therefore empirical CUDA atomic-order sensitivity over the long nonlinear rollout; it is not evidence that the handoff reconstructed different parameters. Raw reports and trajectories are retained in `full_center_handoff_diagnostic*/`. + +**Delegated choice for this execution:** Before the CMA winner is known, qualify handoff on exact saved model/bundle/settings identity, complete 491-transition replay in each stage, frozen and zero-update Adam A=0, and aggregate score agreement within 0.5% relative to the scored CMA score/C+T. Preserve per-step q/v and component differences as diagnostics, without claiming pathwise agreement. Candidate 0 remains the one independently frozen replay of the final exact winner. The 0.5% bound is more than twice the largest observed center aggregate variation while retaining a meaningful check; it is fixed before the winner and will not be adjusted automatically. + +Alternatives considered: retain fixture pathwise thresholds (rejects two replays of the same real-session model), widen pathwise thresholds to several centimetres/metres per second (would misleadingly label divergent trajectories equivalent), or switch to CPU/deterministic physics (changes the selected execution). The chosen aggregate check preserves the source-style experiment and makes the numerical limit explicit. The original R5 fixture comparison is retained unmodified alongside the qualified decision. No optimizer, objective, model, data, candidate score, or simulator setting changes. + +A subsequent single full-window diagnostic of the then-current, already-scored g006/a03 champion (not the final candidate-0 realization) gave CMA aggregate relative difference 9.3e-8, C+T differences below 9e-9, maximum position difference 25 ยตm and maximum velocity difference 0.032 m/s. This supports the predeclared aggregate bound without changing it. 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