sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 94/173
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a01/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/record.json +148 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/issued.npy +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/lifecycle.jsonl +48 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/strategy_after_ask.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/strategy_after_tell.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/told.json +60 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/rollout.npz +3 -0
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95411a479d3bc4760603dfb792ad5300c3d8ee3c7d8c0a3f4a2e9cf4344ce6df
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8aa59368c2e78670b9d40659c919c5e08e480da430647b6f6d8fcff3aed88d0d
|
| 3 |
+
size 87514
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aba1145bf10cf7c5e7222da293724b7f56b2ba7c1453f11825371efcae383d95
|
| 3 |
+
size 391448
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 2,
|
| 5 |
+
"global_ask_index": 970,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41956539031854767,
|
| 8 |
+
0.9841880807224631,
|
| 9 |
+
0.9537931606718729,
|
| 10 |
+
0.5271131396450689,
|
| 11 |
+
0.8339352419866491,
|
| 12 |
+
0.7470432849166924,
|
| 13 |
+
0.25290712000461135,
|
| 14 |
+
0.4921432015415923,
|
| 15 |
+
0.04116730746648792,
|
| 16 |
+
0.7014091517462463,
|
| 17 |
+
0.9962593747303351,
|
| 18 |
+
0.994020389041668
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41956.539031854765,
|
| 22 |
+
"object_radius_m": 0.04936752322889853,
|
| 23 |
+
"object_max_neighbours": 48,
|
| 24 |
+
"controller_radius_m": 0.046897919775154825,
|
| 25 |
+
"controller_max_neighbours": 68,
|
| 26 |
+
"ground_restitution": 0.7470432849166924,
|
| 27 |
+
"ground_friction": 0.5058142400092227,
|
| 28 |
+
"object_restitution": 0.4921432015415923,
|
| 29 |
+
"object_friction": 0.08233461493297584,
|
| 30 |
+
"collision_distance_m": 0.03805636606984985,
|
| 31 |
+
"drag_damping": 19.925187494606703,
|
| 32 |
+
"dashpot_damping": 198.8040778083336
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18177,
|
| 36 |
+
"controller_springs": 1241,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.040119290351867676
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.046866245567798615
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 225,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 692,
|
| 50 |
+
"hand_B": 549
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.01666390011087,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05606601410545409,
|
| 115 |
+
"workspace_s": 0.2956374210771173,
|
| 116 |
+
"objective_s": 0.005785283865407109,
|
| 117 |
+
"stage_capture_s": 0.1249944749288261,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007363845827057958,
|
| 123 |
+
"complete_s": 0.018155407859012485
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.941798634827137e-05,
|
| 134 |
+
"complete_s": 0.00022720079869031906
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.44496673298999667
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.958688735030591,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008777995783998773,
|
| 144 |
+
"tell_score": 0.0008777995783998773,
|
| 145 |
+
"observation_score": 0.0005116893707093159,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a02/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b7e5285bc6067219c07fd9af9a7af9c3d9c5ae44f66e79d5bf977ca0fe1fcddd
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92c785c9b9b8455b0fc4786de981958d80feb669f4a7e1b3df29dfa9b0764c21
|
| 3 |
+
size 88986
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e7ac0f2c2d64bd125a918c9c8309e4830ed51ab11f03d21d7866f411985fa49
|
| 3 |
+
size 398904
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 3,
|
| 5 |
+
"global_ask_index": 971,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.3755326150613242,
|
| 8 |
+
0.9956317230789337,
|
| 9 |
+
0.9842856797515681,
|
| 10 |
+
0.5273180115604938,
|
| 11 |
+
0.8543106887543649,
|
| 12 |
+
0.7134916975832872,
|
| 13 |
+
0.2814304047121899,
|
| 14 |
+
0.5476439710577924,
|
| 15 |
+
0.037122631891668506,
|
| 16 |
+
0.6756874971257715,
|
| 17 |
+
0.9855765245507719,
|
| 18 |
+
0.9983215579159498
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 37553.26150613242,
|
| 22 |
+
"object_radius_m": 0.04982526892315735,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04691226080923457,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7134916975832872,
|
| 27 |
+
"ground_friction": 0.5628608094243798,
|
| 28 |
+
"object_restitution": 0.5476439710577924,
|
| 29 |
+
"object_friction": 0.07424526378333701,
|
| 30 |
+
"collision_distance_m": 0.03702749988503086,
|
| 31 |
+
"drag_damping": 19.711530491015438,
|
| 32 |
+
"dashpot_damping": 199.66431158318997
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1247,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.046866245567798615
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 225,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 698,
|
| 50 |
+
"hand_B": 549
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.01666390011087,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 1,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
2,
|
| 110 |
+
3
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05211543710902333,
|
| 115 |
+
"workspace_s": 0.214369832072407,
|
| 116 |
+
"objective_s": 0.005625823978334665,
|
| 117 |
+
"stage_capture_s": 0.1263863209169358,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.00704951910302043,
|
| 123 |
+
"complete_s": 0.01793670211918652
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010106083936989307,
|
| 134 |
+
"complete_s": 0.00023729796521365643
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36473027104511857
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.45991227705963,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008739189253935055,
|
| 144 |
+
"tell_score": 0.0008739189253935055,
|
| 145 |
+
"observation_score": 0.0005169259514974984,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a03/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e31e531b7a06062ba8b59af2b3df60aaeb2a6a7cd71e07b62827ae4f1cfb43c1
|
| 3 |
+
size 2528870
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a72c2a1ffb1df595fcbad962d9498e405e5bc25fbe5953844226cf0b386e6d48
|
| 3 |
+
size 88590
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:62fea772e6976fc09f59604bdd9de91c42afea5eb74b21b6b38f7bb1d1af444a
|
| 3 |
+
size 396792
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 4,
|
| 5 |
+
"global_ask_index": 972,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41276255649692556,
|
| 8 |
+
0.9951041052407218,
|
| 9 |
+
0.9871828697422043,
|
| 10 |
+
0.5090546782420857,
|
| 11 |
+
0.8132822647337387,
|
| 12 |
+
0.7406402010743781,
|
| 13 |
+
0.14499369754353725,
|
| 14 |
+
0.5607919438250512,
|
| 15 |
+
0.05042098363802246,
|
| 16 |
+
0.7983927711662103,
|
| 17 |
+
0.99955779883642,
|
| 18 |
+
0.9781859558160632
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41276.25564969255,
|
| 22 |
+
"object_radius_m": 0.049804164209628875,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045633827476946005,
|
| 25 |
+
"controller_max_neighbours": 66,
|
| 26 |
+
"ground_restitution": 0.7406402010743781,
|
| 27 |
+
"ground_friction": 0.2899873950870745,
|
| 28 |
+
"object_restitution": 0.5607919438250512,
|
| 29 |
+
"object_friction": 0.10084196727604491,
|
| 30 |
+
"collision_distance_m": 0.04193571084664841,
|
| 31 |
+
"drag_damping": 19.9911559767284,
|
| 32 |
+
"dashpot_damping": 195.63719116321263
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1141,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045628588646650314
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 645,
|
| 50 |
+
"hand_B": 496
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.050025589065626,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.13866643118672073,
|
| 115 |
+
"workspace_s": 0.2213528621941805,
|
| 116 |
+
"objective_s": 0.005891287932172418,
|
| 117 |
+
"stage_capture_s": 0.12825018307194114,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007991343038156629,
|
| 123 |
+
"complete_s": 0.01886207307688892
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010393117554485798,
|
| 134 |
+
"complete_s": 0.00022100098431110382
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3747486511711031
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.087329313158989,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008634407219786174,
|
| 144 |
+
"tell_score": 0.0008634407219786174,
|
| 145 |
+
"observation_score": 0.0005049806611248256,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a04/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4de15f2380bb771ccd23961b9b3944cfb2af3785ccb5cc25702586e8f1c921cc
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:64b529ffd52d9928cd28bf9cd8a05e0c38e698fa05500bbbcc87b5ce56af35d9
|
| 3 |
+
size 89098
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f9f4bce15b2187570cf20b8dec9a2def707e45ac754612475e553a34fe3c1f6
|
| 3 |
+
size 399264
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 5,
|
| 5 |
+
"global_ask_index": 973,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.37944187267688684,
|
| 8 |
+
0.9777937574690531,
|
| 9 |
+
0.9793667498810054,
|
| 10 |
+
0.5292205190816186,
|
| 11 |
+
0.8714806389721399,
|
| 12 |
+
0.7570096870076392,
|
| 13 |
+
0.34959389774173816,
|
| 14 |
+
0.5033276739411024,
|
| 15 |
+
0.08226023899517869,
|
| 16 |
+
0.8051461733608888,
|
| 17 |
+
0.9995553725294679,
|
| 18 |
+
0.9999966603238079
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 37944.187267688685,
|
| 22 |
+
"object_radius_m": 0.04911175029876212,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04704543633571331,
|
| 25 |
+
"controller_max_neighbours": 71,
|
| 26 |
+
"ground_restitution": 0.7570096870076392,
|
| 27 |
+
"ground_friction": 0.6991877954834763,
|
| 28 |
+
"object_restitution": 0.5033276739411024,
|
| 29 |
+
"object_friction": 0.16452047799035738,
|
| 30 |
+
"collision_distance_m": 0.042205846934435555,
|
| 31 |
+
"drag_damping": 19.991107450589357,
|
| 32 |
+
"dashpot_damping": 199.99933206476157
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1265,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04703304171562195
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 227,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 713,
|
| 50 |
+
"hand_B": 552
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.050025589065626,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 2,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
4,
|
| 110 |
+
5
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05349805601872504,
|
| 115 |
+
"workspace_s": 0.2956296750344336,
|
| 116 |
+
"objective_s": 0.005807609995827079,
|
| 117 |
+
"stage_capture_s": 0.12622495996765792,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.00777074322104454,
|
| 123 |
+
"complete_s": 0.018655067076906562
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010287691839039326,
|
| 134 |
+
"complete_s": 0.000239962013438344
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.44674364500679076
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.57680726912804,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008708266723483029,
|
| 144 |
+
"tell_score": 0.0008708266723483029,
|
| 145 |
+
"observation_score": 0.0005171405948848367,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a05/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d1608df610920750cbae2db30de227f90cd38eaf0d07bd649e576aa5cb20b221
|
| 3 |
+
size 2528886
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb4d901af9a7f4d59321c8085d29f991219689d82ebc60e9afed4d42b526eaa3
|
| 3 |
+
size 88526
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:56678aa861016d5fc4899a5e81f6f82dba8bf357f15da18166badd33c1185f29
|
| 3 |
+
size 396544
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 974,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.39180636496873317,
|
| 8 |
+
0.996662551968939,
|
| 9 |
+
0.9992760467903689,
|
| 10 |
+
0.5047457120201794,
|
| 11 |
+
0.8806550112403161,
|
| 12 |
+
0.7007095530499978,
|
| 13 |
+
0.27655438425348744,
|
| 14 |
+
0.5923685224655237,
|
| 15 |
+
0.0559187578941873,
|
| 16 |
+
0.7384306696764685,
|
| 17 |
+
0.9908150301696512,
|
| 18 |
+
0.9992798194871273
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 39180.63649687332,
|
| 22 |
+
"object_radius_m": 0.04986650207875756,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04533219984141256,
|
| 25 |
+
"controller_max_neighbours": 71,
|
| 26 |
+
"ground_restitution": 0.7007095530499978,
|
| 27 |
+
"ground_friction": 0.5531087685069749,
|
| 28 |
+
"object_restitution": 0.5923685224655237,
|
| 29 |
+
"object_friction": 0.1118375157883746,
|
| 30 |
+
"collision_distance_m": 0.03953722678705874,
|
| 31 |
+
"drag_damping": 19.816300603393024,
|
| 32 |
+
"dashpot_damping": 199.85596389742545
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1129,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045327793806791306
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 648,
|
| 50 |
+
"hand_B": 481
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.04502625297755,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.05727760400623083,
|
| 115 |
+
"workspace_s": 0.212019809987396,
|
| 116 |
+
"objective_s": 0.005666467826813459,
|
| 117 |
+
"stage_capture_s": 0.12440708512440324,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007409482961520553,
|
| 123 |
+
"complete_s": 0.018282716162502766
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010557100176811218,
|
| 134 |
+
"complete_s": 0.0002312080468982458
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36078135087154806
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.986950729973614,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008739821788347033,
|
| 144 |
+
"tell_score": 0.0008739821788347033,
|
| 145 |
+
"observation_score": 0.0005054896731158887,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a06/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf11a07a80e170c15e55b13a5a8b77544e37a0b660406f9b4303770df7363aa8
|
| 3 |
+
size 2528886
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e00ddec9f1e8c1c9776f2757437ed40a910962131f918c447beee0b13bfe9989
|
| 3 |
+
size 89002
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2650f4e39c0f1ebf1d7cbe939c9c7c25ed6b578c80c11101a42e5ce77ab81009
|
| 3 |
+
size 398852
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 7,
|
| 5 |
+
"global_ask_index": 975,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.3688621439801611,
|
| 8 |
+
0.9911989296958658,
|
| 9 |
+
0.9979991753503948,
|
| 10 |
+
0.5259766374550948,
|
| 11 |
+
0.852413854669358,
|
| 12 |
+
0.7481971126281871,
|
| 13 |
+
0.24057830099983157,
|
| 14 |
+
0.5021625142447077,
|
| 15 |
+
0.09528209931960391,
|
| 16 |
+
0.6667897428611153,
|
| 17 |
+
0.9949601747942789,
|
| 18 |
+
0.9776114096605958
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 36886.21439801611,
|
| 22 |
+
"object_radius_m": 0.049647957187834636,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.046818364621856644,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7481971126281871,
|
| 27 |
+
"ground_friction": 0.48115660199966315,
|
| 28 |
+
"object_restitution": 0.5021625142447077,
|
| 29 |
+
"object_friction": 0.19056419863920782,
|
| 30 |
+
"collision_distance_m": 0.03667158971444461,
|
| 31 |
+
"drag_damping": 19.89920349588558,
|
| 32 |
+
"dashpot_damping": 195.52228193211917
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1244,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04680340364575386
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 225,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 697,
|
| 50 |
+
"hand_B": 547
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.04502625297755,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 3,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
6,
|
| 110 |
+
7
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.052696591010317206,
|
| 115 |
+
"workspace_s": 0.29672144004143775,
|
| 116 |
+
"objective_s": 0.0058441918808966875,
|
| 117 |
+
"stage_capture_s": 0.12549141515046358,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007874903967604041,
|
| 123 |
+
"complete_s": 0.018782964907586575
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00011003902181982994,
|
| 134 |
+
"complete_s": 0.0002380611840635538
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4472596750129014
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.571072667138651,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008742621131240136,
|
| 144 |
+
"tell_score": 0.0008742621131240136,
|
| 145 |
+
"observation_score": 0.0005183468123404983,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a07/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc2668b8cabf3ce73eb28b8d6f2310635dcfe76d9dc175e1c4c0eff076de81ef
|
| 3 |
+
size 2528894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dcb6762458b9e664fdc21243473823c500787149aefca20706257fd834b192f3
|
| 3 |
+
size 88894
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5bb95e75c26b2abef48695c660aa08c4c03ed95960a9cbf1b52695e7f6ab4a56
|
| 3 |
+
size 398524
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 8,
|
| 5 |
+
"global_ask_index": 976,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41551858493673544,
|
| 8 |
+
0.9861875314976554,
|
| 9 |
+
0.9852980533094493,
|
| 10 |
+
0.5212603615283543,
|
| 11 |
+
0.885492890615028,
|
| 12 |
+
0.7139380672221373,
|
| 13 |
+
0.24166262834871388,
|
| 14 |
+
0.5612979688201466,
|
| 15 |
+
0.1305225231645946,
|
| 16 |
+
0.7242526964156463,
|
| 17 |
+
0.9977008795367515,
|
| 18 |
+
0.9904532317509338
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41551.85849367354,
|
| 22 |
+
"object_radius_m": 0.04944750125990622,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04648822530698481,
|
| 25 |
+
"controller_max_neighbours": 71,
|
| 26 |
+
"ground_restitution": 0.7139380672221373,
|
| 27 |
+
"ground_friction": 0.48332525669742776,
|
| 28 |
+
"object_restitution": 0.5612979688201466,
|
| 29 |
+
"object_friction": 0.2610450463291892,
|
| 30 |
+
"collision_distance_m": 0.03897010785662585,
|
| 31 |
+
"drag_damping": 19.954017590735027,
|
| 32 |
+
"dashpot_damping": 198.09064635018677
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1228,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04647860303521156
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 224,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 693,
|
| 50 |
+
"hand_B": 535
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.033190106973052,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.0569622830953449,
|
| 115 |
+
"workspace_s": 0.20986424898728728,
|
| 116 |
+
"objective_s": 0.005772056989371777,
|
| 117 |
+
"stage_capture_s": 0.13027051906101406,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.009187259944155812,
|
| 123 |
+
"complete_s": 0.02003125799819827
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 9.93749126791954e-05,
|
| 134 |
+
"complete_s": 0.0002230750396847725
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3663658769801259
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.986950335092843,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008629150364416142,
|
| 144 |
+
"tell_score": 0.0008629150364416142,
|
| 145 |
+
"observation_score": 0.0005013579523299684,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a08/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f3f7f1976bbbb5a5cff3bb52d5058f65430b14fd73688946b8565ecff40ce7a3
|
| 3 |
+
size 2528878
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e25142dc81a211077661ac0382327646f4673e71c4fe415bc84a01ab60181c2f
|
| 3 |
+
size 88954
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:57d71ab7bd74034e0f2b0f356e98244369da5d2ce5c969ce14fe4140c8bd01cb
|
| 3 |
+
size 398708
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 9,
|
| 5 |
+
"global_ask_index": 977,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.40203634961840995,
|
| 8 |
+
0.9782948602538638,
|
| 9 |
+
0.9990073733715752,
|
| 10 |
+
0.524296178537663,
|
| 11 |
+
0.8522379290926154,
|
| 12 |
+
0.7005673233064752,
|
| 13 |
+
0.1850698763944562,
|
| 14 |
+
0.4948068703247107,
|
| 15 |
+
0.14699743486835914,
|
| 16 |
+
0.7046861864337676,
|
| 17 |
+
0.9999148860486593,
|
| 18 |
+
0.9983037624373776
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 40203.634961840995,
|
| 22 |
+
"object_radius_m": 0.049131794410154556,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04670073249763641,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7005673233064752,
|
| 27 |
+
"ground_friction": 0.3701397527889124,
|
| 28 |
+
"object_restitution": 0.4948068703247107,
|
| 29 |
+
"object_friction": 0.2939948697367183,
|
| 30 |
+
"collision_distance_m": 0.038187447457350705,
|
| 31 |
+
"drag_damping": 19.998297720973184,
|
| 32 |
+
"dashpot_damping": 199.66075248747552
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1237,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04669812321662903
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 224,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 694,
|
| 50 |
+
"hand_B": 543
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.033190106973052,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 4,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
8,
|
| 110 |
+
9
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.053779968060553074,
|
| 115 |
+
"workspace_s": 0.30327170295640826,
|
| 116 |
+
"objective_s": 0.005778410006314516,
|
| 117 |
+
"stage_capture_s": 0.12534267990849912,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.00770212709903717,
|
| 123 |
+
"complete_s": 0.01855575805529952
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010596821084618568,
|
| 134 |
+
"complete_s": 0.00022301706485450268
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.453348564915359
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.561814764048904,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008605516824285431,
|
| 144 |
+
"tell_score": 0.0008605516824285431,
|
| 145 |
+
"observation_score": 0.0005054705940583405,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a09/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7be75d3856399b7af5dd1aadff8dc2c4bfad197b6691a08a9a4b4367aca0a7a
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4c3f1ca35448bda07ab8b2bf21ebdc647f73a66bd66531c6de62abe6784bb4de
|
| 3 |
+
size 88922
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a06fe8ba6770dd664808b5a8ed24789b616c32af1c99dd73a6a2aafdfd0aa801
|
| 3 |
+
size 398500
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/record.json
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 88,
|
| 4 |
+
"ask_index": 10,
|
| 5 |
+
"global_ask_index": 978,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.3778624791888296,
|
| 8 |
+
0.9909586939077744,
|
| 9 |
+
0.9922561965382861,
|
| 10 |
+
0.5218396123129785,
|
| 11 |
+
0.8449888126550502,
|
| 12 |
+
0.7522442069972263,
|
| 13 |
+
0.32564212023829586,
|
| 14 |
+
0.5454240406870573,
|
| 15 |
+
0.10620083825052205,
|
| 16 |
+
0.822946795696598,
|
| 17 |
+
0.9904768267587853,
|
| 18 |
+
0.9996652816540373
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 37786.24791888296,
|
| 22 |
+
"object_radius_m": 0.04963834775631098,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.0465287728619085,
|
| 25 |
+
"controller_max_neighbours": 69,
|
| 26 |
+
"ground_restitution": 0.7522442069972263,
|
| 27 |
+
"ground_friction": 0.6512842404765917,
|
| 28 |
+
"object_restitution": 0.5454240406870573,
|
| 29 |
+
"object_friction": 0.2124016765010441,
|
| 30 |
+
"collision_distance_m": 0.04291787182786392,
|
| 31 |
+
"drag_damping": 19.809536535175706,
|
| 32 |
+
"dashpot_damping": 199.93305633080746
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1227,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.046515852212905884
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 223,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 688,
|
| 50 |
+
"hand_B": 539
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 5.636142180068418,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 5,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
10
|
| 110 |
+
],
|
| 111 |
+
"earlier_asks_pending_at_commit": [],
|
| 112 |
+
"preparation": {
|
| 113 |
+
"decode_topology_model_s": 0.05697824596427381,
|
| 114 |
+
"workspace_s": 0.21102325711399317,
|
| 115 |
+
"objective_s": 0.005702177993953228,
|
| 116 |
+
"stage_capture_s": 0.1286964148748666,
|
| 117 |
+
"warm_launch": {
|
| 118 |
+
"dynamics": {
|
| 119 |
+
"launched": true,
|
| 120 |
+
"graph_exec_existed": false,
|
| 121 |
+
"instantiate_and_enqueue_s": 0.007622400065883994,
|
| 122 |
+
"complete_s": 0.0184829190839082
|
| 123 |
+
},
|
| 124 |
+
"objective": {
|
| 125 |
+
"launched": 4,
|
| 126 |
+
"graph_exec_existed": {
|
| 127 |
+
"clear": false,
|
| 128 |
+
"select": false,
|
| 129 |
+
"loss": false,
|
| 130 |
+
"history": false
|
| 131 |
+
},
|
| 132 |
+
"instantiate_and_enqueue_s": 0.00011158897541463375,
|
| 133 |
+
"complete_s": 0.0002736840397119522
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"total_s": 0.3643703090492636
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"wall_time_s": 6.070535697974265,
|
| 141 |
+
"outcome": "finite",
|
| 142 |
+
"score": 0.0008719969178844422,
|
| 143 |
+
"tell_score": 0.0008719969178844422,
|
| 144 |
+
"observation_score": 0.000514137907840559,
|
| 145 |
+
"completed_transitions": 491,
|
| 146 |
+
"physical_failure": null,
|
| 147 |
+
"trajectory_retained": false
|
| 148 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/a10/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5ceee5d86bc82911afac35b5c210625fb7d11bf3c9f1edb935c8794be846738a
|
| 3 |
+
size 2528870
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/issued.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d043555502160f3f9cbc1619b1e7934fb4c9c377068032d047debf0d4d2b1e4
|
| 3 |
+
size 1184
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/lifecycle.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791677640.7059455, "t_invocation_s": 0.000112022, "configured_max_width": 2, "population": 11, "missing": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], "committed_before": []}
|
| 2 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677640.7066562, "t_invocation_s": 0.000822738, "wave": 0, "members": [0, 1], "occupancy": 2}
|
| 3 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677641.2169058, "t_invocation_s": 0.511072651, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.05270482017658651, "workspace_s": 0.29740312206558883, "objective_s": 0.0059015159495174885, "stage_capture_s": 0.1293212240561843, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007895691087469459, "complete_s": 0.018758186139166355}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.803916327655315e-05, "complete_s": 0.000233885133638978}}, "total_s": 0.451789716957137}, "object_springs": 18544, "controller_springs": 1200}
|
| 4 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677641.6354768, "t_invocation_s": 0.929643437, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.051150945015251637, "workspace_s": 0.207131986040622, "objective_s": 0.005614354973658919, "stage_capture_s": 0.12497696513310075, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007932756096124649, "complete_s": 0.018781540915369987}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011423206888139248, "complete_s": 0.0002461608964949846}}, "total_s": 0.3569285781122744}, "object_springs": 18544, "controller_springs": 1247}
|
| 5 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677641.6406329, "t_invocation_s": 0.934799597, "wave": 0, "members": [0, 1]}
|
| 6 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677649.6980145, "t_invocation_s": 8.992181096, "wave": 0, "index": 0, "arrival": 0}
|
| 7 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677649.7110488, "t_invocation_s": 9.005215436, "wave": 0, "index": 1, "arrival": 1}
|
| 8 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677649.7430828, "t_invocation_s": 9.037249784, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
|
| 9 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677649.7728624, "t_invocation_s": 9.067029467, "wave": 0, "commit_order": [0, 1]}
|
| 10 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677649.773747, "t_invocation_s": 9.06791353, "wave": 1, "members": [2, 3], "occupancy": 2}
|
| 11 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677650.2809138, "t_invocation_s": 9.575080801, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.05606601410545409, "workspace_s": 0.2956374210771173, "objective_s": 0.005785283865407109, "stage_capture_s": 0.1249944749288261, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007363845827057958, "complete_s": 0.018155407859012485}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.941798634827137e-05, "complete_s": 0.00022720079869031906}}, "total_s": 0.44496673298999667}, "object_springs": 18177, "controller_springs": 1241}
|
| 12 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677650.7086718, "t_invocation_s": 10.002838773, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.05211543710902333, "workspace_s": 0.214369832072407, "objective_s": 0.005625823978334665, "stage_capture_s": 0.1263863209169358, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00704951910302043, "complete_s": 0.01793670211918652}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010106083936989307, "complete_s": 0.00023729796521365643}}, "total_s": 0.36473027104511857}, "object_springs": 18544, "controller_springs": 1247}
|
| 13 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677650.7138896, "t_invocation_s": 10.008056104, "wave": 1, "members": [2, 3]}
|
| 14 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677658.7390397, "t_invocation_s": 18.033206541, "wave": 1, "index": 2, "arrival": 0}
|
| 15 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677658.751858, "t_invocation_s": 18.046024571, "wave": 1, "index": 3, "arrival": 1}
|
| 16 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677658.7813468, "t_invocation_s": 18.075513959, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
|
| 17 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677658.8078914, "t_invocation_s": 18.102058475, "wave": 1, "commit_order": [2, 3]}
|
| 18 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677658.8086126, "t_invocation_s": 18.102779143, "wave": 2, "members": [4, 5], "occupancy": 2}
|
| 19 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677659.3279867, "t_invocation_s": 18.622153571, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.13866643118672073, "workspace_s": 0.2213528621941805, "objective_s": 0.005891287932172418, "stage_capture_s": 0.12825018307194114, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007991343038156629, "complete_s": 0.01886207307688892}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010393117554485798, "complete_s": 0.00022100098431110382}}, "total_s": 0.3747486511711031}, "object_springs": 18544, "controller_springs": 1141}
|
| 20 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677659.8386364, "t_invocation_s": 19.132803074, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05349805601872504, "workspace_s": 0.2956296750344336, "objective_s": 0.005807609995827079, "stage_capture_s": 0.12622495996765792, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00777074322104454, "complete_s": 0.018655067076906562}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010287691839039326, "complete_s": 0.000239962013438344}}, "total_s": 0.44674364500679076}, "object_springs": 18544, "controller_springs": 1265}
|
| 21 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677659.8438735, "t_invocation_s": 19.138040073, "wave": 2, "members": [4, 5]}
|
| 22 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677667.9028268, "t_invocation_s": 27.196993571, "wave": 2, "index": 4, "arrival": 0}
|
| 23 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677667.9157455, "t_invocation_s": 27.20991227, "wave": 2, "index": 5, "arrival": 1}
|
| 24 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677667.9477186, "t_invocation_s": 27.241885905, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
|
| 25 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677667.976905, "t_invocation_s": 27.27107263, "wave": 2, "commit_order": [4, 5]}
|
| 26 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677667.9776857, "t_invocation_s": 27.271852285, "wave": 3, "members": [6, 7], "occupancy": 2}
|
| 27 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677668.4016907, "t_invocation_s": 27.695857524, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05727760400623083, "workspace_s": 0.212019809987396, "objective_s": 0.005666467826813459, "stage_capture_s": 0.12440708512440324, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007409482961520553, "complete_s": 0.018282716162502766}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010557100176811218, "complete_s": 0.0002312080468982458}}, "total_s": 0.36078135087154806}, "object_springs": 18544, "controller_springs": 1129}
|
| 28 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677668.912209, "t_invocation_s": 28.206376145, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.052696591010317206, "workspace_s": 0.29672144004143775, "objective_s": 0.0058441918808966875, "stage_capture_s": 0.12549141515046358, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007874903967604041, "complete_s": 0.018782964907586575}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011003902181982994, "complete_s": 0.0002380611840635538}}, "total_s": 0.4472596750129014}, "object_springs": 18544, "controller_springs": 1244}
|
| 29 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677668.9174502, "t_invocation_s": 28.211616775, "wave": 3, "members": [6, 7]}
|
| 30 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677676.9708695, "t_invocation_s": 36.265036461, "wave": 3, "index": 6, "arrival": 0}
|
| 31 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677676.9837434, "t_invocation_s": 36.277910213, "wave": 3, "index": 7, "arrival": 1}
|
| 32 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677677.014398, "t_invocation_s": 36.308565156, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
|
| 33 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677677.044949, "t_invocation_s": 36.339115803, "wave": 3, "commit_order": [6, 7]}
|
| 34 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677677.0457652, "t_invocation_s": 36.339931672, "wave": 4, "members": [8, 9], "occupancy": 2}
|
| 35 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677677.4748347, "t_invocation_s": 36.769001502, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.0569622830953449, "workspace_s": 0.20986424898728728, "objective_s": 0.005772056989371777, "stage_capture_s": 0.13027051906101406, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.009187259944155812, "complete_s": 0.02003125799819827}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.93749126791954e-05, "complete_s": 0.0002230750396847725}}, "total_s": 0.3663658769801259}, "object_springs": 18544, "controller_springs": 1228}
|
| 36 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677677.9924736, "t_invocation_s": 37.286640431, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.053779968060553074, "workspace_s": 0.30327170295640826, "objective_s": 0.005778410006314516, "stage_capture_s": 0.12534267990849912, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00770212709903717, "complete_s": 0.01855575805529952}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010596821084618568, "complete_s": 0.00022301706485450268}}, "total_s": 0.453348564915359}, "object_springs": 18544, "controller_springs": 1237}
|
| 37 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677677.997627, "t_invocation_s": 37.291793726, "wave": 4, "members": [8, 9]}
|
| 38 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677686.0390868, "t_invocation_s": 45.333253867, "wave": 4, "index": 8, "arrival": 0}
|
| 39 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677686.0474014, "t_invocation_s": 45.341568168, "wave": 4, "index": 9, "arrival": 1}
|
| 40 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677686.075026, "t_invocation_s": 45.369193057, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
|
| 41 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677686.1013515, "t_invocation_s": 45.395518356, "wave": 4, "commit_order": [8, 9]}
|
| 42 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791677686.1024675, "t_invocation_s": 45.396634332, "wave": 5, "members": [10], "occupancy": 1}
|
| 43 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791677686.5298223, "t_invocation_s": 45.823989314, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05697824596427381, "workspace_s": 0.21102325711399317, "objective_s": 0.005702177993953228, "stage_capture_s": 0.1286964148748666, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007622400065883994, "complete_s": 0.0184829190839082}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011158897541463375, "complete_s": 0.0002736840397119522}}, "total_s": 0.3643703090492636}, "object_springs": 18544, "controller_springs": 1227}
|
| 44 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791677686.535002, "t_invocation_s": 45.82916874, "wave": 5, "members": [10]}
|
| 45 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791677692.1798263, "t_invocation_s": 51.47399298, "wave": 5, "index": 10, "arrival": 0}
|
| 46 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791677692.1851132, "t_invocation_s": 51.479279654, "wave": 5, "drained": {"10": "drained"}}
|
| 47 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791677692.212348, "t_invocation_s": 51.506515056, "wave": 5, "commit_order": [10]}
|
| 48 |
+
{"invocation": 1, "kind": "told", "t_unix_s": 1791677692.2147617, "t_invocation_s": 51.508928347, "generation": 88, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 953}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/strategy_after_ask.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a69f8cb6e5f221e658ad3b8ce7fe4bfb078c15afcaa8776c74e4b28d4caef817
|
| 3 |
+
size 31353
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/strategy_after_tell.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:45864e9d1d4e1c026df38f6a1eb6a8588e115ca104f041cb75fc70197f1fada1
|
| 3 |
+
size 28069
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g088/told.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"generation": 88,
|
| 3 |
+
"told_scores": [
|
| 4 |
+
0.0008670505674731588,
|
| 5 |
+
0.0008671352985335653,
|
| 6 |
+
0.0008777995783998773,
|
| 7 |
+
0.0008739189253935055,
|
| 8 |
+
0.0008634407219786174,
|
| 9 |
+
0.0008708266723483029,
|
| 10 |
+
0.0008739821788347033,
|
| 11 |
+
0.0008742621131240136,
|
| 12 |
+
0.0008629150364416142,
|
| 13 |
+
0.0008605516824285431,
|
| 14 |
+
0.0008719969178844422
|
| 15 |
+
],
|
| 16 |
+
"physical_failures": 0,
|
| 17 |
+
"physical_failures_total": 0,
|
| 18 |
+
"issued_asks_total": 979,
|
| 19 |
+
"told_asks_total": 979,
|
| 20 |
+
"champion": {
|
| 21 |
+
"generation": 86,
|
| 22 |
+
"ask_index": 7,
|
| 23 |
+
"global_ask_index": 953,
|
| 24 |
+
"score": 0.0008547215540172597,
|
| 25 |
+
"observation_score": 0.0004941869685423984,
|
| 26 |
+
"normalized": [
|
| 27 |
+
0.4095465702118507,
|
| 28 |
+
0.9834187082648226,
|
| 29 |
+
0.9896037967322501,
|
| 30 |
+
0.5064744229681327,
|
| 31 |
+
0.8661315497196146,
|
| 32 |
+
0.7181504388968839,
|
| 33 |
+
0.14921568110803077,
|
| 34 |
+
0.4854735374780977,
|
| 35 |
+
0.08125012301987619,
|
| 36 |
+
0.6520019842775767,
|
| 37 |
+
0.999813181398697,
|
| 38 |
+
0.9998258566078151
|
| 39 |
+
],
|
| 40 |
+
"settings": {
|
| 41 |
+
"spring_y": 40954.65702118507,
|
| 42 |
+
"object_radius_m": 0.04933674833059291,
|
| 43 |
+
"object_max_neighbours": 49,
|
| 44 |
+
"controller_radius_m": 0.045453209607769295,
|
| 45 |
+
"controller_max_neighbours": 70,
|
| 46 |
+
"ground_restitution": 0.7181504388968839,
|
| 47 |
+
"ground_friction": 0.29843136221606154,
|
| 48 |
+
"object_restitution": 0.4854735374780977,
|
| 49 |
+
"object_friction": 0.16250024603975238,
|
| 50 |
+
"collision_distance_m": 0.03608007937110307,
|
| 51 |
+
"drag_damping": 19.99626362797394,
|
| 52 |
+
"dashpot_damping": 199.96517132156302
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"pycma": {
|
| 56 |
+
"countiter": 89,
|
| 57 |
+
"countevals": 979,
|
| 58 |
+
"sigma": 0.03358309784858299
|
| 59 |
+
}
|
| 60 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7b7af4cc59d1af625c2ece3e50b4efe58401d5f6c28cadfef85d8a359cfb3aa
|
| 3 |
+
size 88642
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8436fef1fe9b41b0fe3a4088cc085ef68ac7c715366432c3260ca5ca16b0d77
|
| 3 |
+
size 397060
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 89,
|
| 4 |
+
"ask_index": 0,
|
| 5 |
+
"global_ask_index": 979,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4229384608305313,
|
| 8 |
+
0.9508860753111844,
|
| 9 |
+
0.9964204541397949,
|
| 10 |
+
0.5110001354569457,
|
| 11 |
+
0.8129671670482939,
|
| 12 |
+
0.7447477863259139,
|
| 13 |
+
0.17303530657662985,
|
| 14 |
+
0.508607210669273,
|
| 15 |
+
0.09986692744342364,
|
| 16 |
+
0.7221100897310463,
|
| 17 |
+
0.9997405063773463,
|
| 18 |
+
0.9878912620661728
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 42293.84608305313,
|
| 22 |
+
"object_radius_m": 0.04803544301244738,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.0457700094819862,
|
| 25 |
+
"controller_max_neighbours": 66,
|
| 26 |
+
"ground_restitution": 0.7447477863259139,
|
| 27 |
+
"ground_friction": 0.3460706131532597,
|
| 28 |
+
"object_restitution": 0.508607210669273,
|
| 29 |
+
"object_friction": 0.19973385488684728,
|
| 30 |
+
"collision_distance_m": 0.038884403589241855,
|
| 31 |
+
"drag_damping": 19.994810127546927,
|
| 32 |
+
"dashpot_damping": 197.57825241323457
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1155,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04576260223984718
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 504
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.130972507875413,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.053622107952833176,
|
| 115 |
+
"workspace_s": 0.2822334188967943,
|
| 116 |
+
"objective_s": 0.005612956127151847,
|
| 117 |
+
"stage_capture_s": 0.12236599484458566,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007592922076582909,
|
| 123 |
+
"complete_s": 0.018454523058608174
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00010166293941438198,
|
| 134 |
+
"complete_s": 0.00022541196085512638
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.42906471202149987
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.058096283115447,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000864737751787479,
|
| 144 |
+
"tell_score": 0.000864737751787479,
|
| 145 |
+
"observation_score": 0.0005038866577700801,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a00/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ad4d30d8db07c00107d6246d42789478122d27dde49716f436391561aeea557b
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:80dc130668aa683bf50bbce3a41a8597cc73b2d9b4dbfb26b9d1c984ba1931bb
|
| 3 |
+
size 89026
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e4f2f18f338a170cb21adfa200674fa8fc4cc0c0adfb0d92f9e1b966bbe407db
|
| 3 |
+
size 398888
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 89,
|
| 4 |
+
"ask_index": 1,
|
| 5 |
+
"global_ask_index": 980,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.38628623888995367,
|
| 8 |
+
0.9968019519533555,
|
| 9 |
+
0.9960905024336328,
|
| 10 |
+
0.5239019472326657,
|
| 11 |
+
0.8913562158284747,
|
| 12 |
+
0.6809618333182647,
|
| 13 |
+
0.23166650235263148,
|
| 14 |
+
0.5300338331053479,
|
| 15 |
+
0.09348923771567094,
|
| 16 |
+
0.6676267058696971,
|
| 17 |
+
0.9994175261467607,
|
| 18 |
+
0.9946267978627595
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 38628.62388899537,
|
| 22 |
+
"object_radius_m": 0.04987207807813422,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.046673136306286604,
|
| 25 |
+
"controller_max_neighbours": 72,
|
| 26 |
+
"ground_restitution": 0.6809618333182647,
|
| 27 |
+
"ground_friction": 0.46333300470526295,
|
| 28 |
+
"object_restitution": 0.5300338331053479,
|
| 29 |
+
"object_friction": 0.18697847543134188,
|
| 30 |
+
"collision_distance_m": 0.036705068234787884,
|
| 31 |
+
"drag_damping": 19.988350522935214,
|
| 32 |
+
"dashpot_damping": 198.9253595725519
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1246,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.046669214963912964
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 226,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 704,
|
| 50 |
+
"hand_B": 542
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.130972507875413,
|
| 58 |
+
"transaction": {
|
| 59 |
+
"stage": "cma",
|
| 60 |
+
"populations": {
|
| 61 |
+
"num_original": 369,
|
| 62 |
+
"num_surface": 724,
|
| 63 |
+
"num_all": 729
|
| 64 |
+
},
|
| 65 |
+
"clock": {
|
| 66 |
+
"period_s": "1/30",
|
| 67 |
+
"num_substeps": 667,
|
| 68 |
+
"substep_dt_s": 4.9975012493753125e-05,
|
| 69 |
+
"consumed_substep_dt_f32": 4.997501309844665e-05,
|
| 70 |
+
"consumed_interval_minus_period_s": 4.0333058374623455e-10,
|
| 71 |
+
"transitions": 491,
|
| 72 |
+
"consumed_total_minus_period_total_s": 1.9803531661940118e-07,
|
| 73 |
+
"source_literal_period_s_not_used": 0.033350000000000005
|
| 74 |
+
},
|
| 75 |
+
"transition": {
|
| 76 |
+
"forward_reduction": "atomic",
|
| 77 |
+
"backward_reduction": "atomic",
|
| 78 |
+
"capture": true
|
| 79 |
+
},
|
| 80 |
+
"history_active": true,
|
| 81 |
+
"forwards": 491,
|
| 82 |
+
"backwards": 0,
|
| 83 |
+
"updates": 0,
|
| 84 |
+
"reset": "q0/v0 and fresh objective history",
|
| 85 |
+
"carry": "same detached pre-update endpoint",
|
| 86 |
+
"supervision": {
|
| 87 |
+
"P": 1258,
|
| 88 |
+
"pairs": 369,
|
| 89 |
+
"D_C": 1136,
|
| 90 |
+
"D_T": 285,
|
| 91 |
+
"targets_sha256": "58cfb6a024f19a1fd40d837932c4661ffe0d507ed822d077448cd3e549ad2167"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"workspace_reused": false,
|
| 95 |
+
"dynamics_graph_builds": 1,
|
| 96 |
+
"loss_graph_builds": 1,
|
| 97 |
+
"loss_host_readbacks": 982,
|
| 98 |
+
"warp_version": "1.16.0",
|
| 99 |
+
"warm_launches": {
|
| 100 |
+
"dynamics": 1,
|
| 101 |
+
"objective": 4
|
| 102 |
+
},
|
| 103 |
+
"candidate_scheduling": {
|
| 104 |
+
"mode": "resident_waves",
|
| 105 |
+
"configured_max_width": 2,
|
| 106 |
+
"invocation": 1,
|
| 107 |
+
"wave": 0,
|
| 108 |
+
"wave_members": [
|
| 109 |
+
0,
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"earlier_asks_pending_at_commit": [],
|
| 113 |
+
"preparation": {
|
| 114 |
+
"decode_topology_model_s": 0.06780186598189175,
|
| 115 |
+
"workspace_s": 0.2016573518048972,
|
| 116 |
+
"objective_s": 0.00582559104077518,
|
| 117 |
+
"stage_capture_s": 0.12741130613721907,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007380712078884244,
|
| 123 |
+
"complete_s": 0.018216304946690798
|
| 124 |
+
},
|
| 125 |
+
"objective": {
|
| 126 |
+
"launched": 4,
|
| 127 |
+
"graph_exec_existed": {
|
| 128 |
+
"clear": false,
|
| 129 |
+
"select": false,
|
| 130 |
+
"loss": false,
|
| 131 |
+
"history": false
|
| 132 |
+
},
|
| 133 |
+
"instantiate_and_enqueue_s": 0.00012051500380039215,
|
| 134 |
+
"complete_s": 0.0002547129988670349
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.35354861291125417
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.5780261780601,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008666823269905335,
|
| 144 |
+
"tell_score": 0.0008666823269905335,
|
| 145 |
+
"observation_score": 0.0005077606136946182,
|
| 146 |
+
"completed_transitions": 491,
|
| 147 |
+
"physical_failure": null,
|
| 148 |
+
"trajectory_retained": false
|
| 149 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g089/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b770d1d882c3496a0bde3378c7d9b6b31a0e00f0f682e9ccb57c4cf037267415
|
| 3 |
+
size 2528890
|