sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking: payload batch 28/45
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/g214/a08/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a08/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a08/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/record.json +148 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/issued.npy +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/lifecycle.jsonl +48 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/strategy_after_ask.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/strategy_after_tell.pkl +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/told.json +60 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/model/topology.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/record.json +149 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/rollout.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a08/model/model.npz +3 -0
- sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a08/model/topology.npz +3 -0
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:477f7b52d838ae9fb87ecd82fe940d743cbe3fd91cb652b2732043b27a3582c5
|
| 3 |
+
size 396764
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a08/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 214,
|
| 4 |
+
"ask_index": 8,
|
| 5 |
+
"global_ask_index": 2362,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41152646236873053,
|
| 8 |
+
0.9999014565988975,
|
| 9 |
+
0.9977295064374359,
|
| 10 |
+
0.5071698112340811,
|
| 11 |
+
0.8622844727060244,
|
| 12 |
+
0.7340749433401473,
|
| 13 |
+
0.330096077512086,
|
| 14 |
+
0.6292426163025363,
|
| 15 |
+
0.14960095166783202,
|
| 16 |
+
0.8365350465057438,
|
| 17 |
+
0.9999296753870063,
|
| 18 |
+
0.9996404379776213
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41152.64623687305,
|
| 22 |
+
"object_radius_m": 0.0499960582639559,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045501886786385684,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7340749433401473,
|
| 27 |
+
"ground_friction": 0.660192155024172,
|
| 28 |
+
"object_restitution": 0.6292426163025363,
|
| 29 |
+
"object_friction": 0.29920190333566404,
|
| 30 |
+
"collision_distance_m": 0.04346140186022976,
|
| 31 |
+
"drag_damping": 19.998593507740125,
|
| 32 |
+
"dashpot_damping": 199.92808759552426
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1140,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.088874930050224,
|
| 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": 0.05765210697427392,
|
| 115 |
+
"workspace_s": 0.21175769995898008,
|
| 116 |
+
"objective_s": 0.005766327027231455,
|
| 117 |
+
"stage_capture_s": 0.12676490703597665,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.0077657748479396105,
|
| 123 |
+
"complete_s": 0.01862346287816763
|
| 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": 0.00013419310562312603,
|
| 134 |
+
"complete_s": 0.00025972118601202965
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.36333987093530595
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.044194445945323,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008536841470470544,
|
| 144 |
+
"tell_score": 0.0008536841470470544,
|
| 145 |
+
"observation_score": 0.0004930580113539064,
|
| 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/g214/a08/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:feda2a0d9b5e107b30f4f571dfcd5f9d62641c07d11f70a80ac54eee3b0be184
|
| 3 |
+
size 2528906
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9272d18e8eac9219af96667caf3c7da243955a9fb7b91fc0cc7b219227bf6dca
|
| 3 |
+
size 88570
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2638eba64c0d35fe244861d89895a6d1e788cbf730830acefe905b6cfd3c8e79
|
| 3 |
+
size 396752
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a09/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 214,
|
| 4 |
+
"ask_index": 9,
|
| 5 |
+
"global_ask_index": 2363,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41295411991535536,
|
| 8 |
+
0.9999365545347535,
|
| 9 |
+
0.998247137116505,
|
| 10 |
+
0.5071100980915527,
|
| 11 |
+
0.8642174706950358,
|
| 12 |
+
0.7275759526862543,
|
| 13 |
+
0.343365314340241,
|
| 14 |
+
0.6295916447434474,
|
| 15 |
+
0.1511260834638853,
|
| 16 |
+
0.841889849326979,
|
| 17 |
+
0.9999999970483359,
|
| 18 |
+
0.9999998633517555
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41295.41199153553,
|
| 22 |
+
"object_radius_m": 0.049997462181390145,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045497706866408694,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7275759526862543,
|
| 27 |
+
"ground_friction": 0.686730628680482,
|
| 28 |
+
"object_restitution": 0.6295916447434474,
|
| 29 |
+
"object_friction": 0.3022521669277706,
|
| 30 |
+
"collision_distance_m": 0.043675593973079165,
|
| 31 |
+
"drag_damping": 19.999999940966717,
|
| 32 |
+
"dashpot_damping": 199.9999726703511
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.088874930050224,
|
| 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": 0.1416192778851837,
|
| 115 |
+
"workspace_s": 0.21280216495506465,
|
| 116 |
+
"objective_s": 0.005845452891662717,
|
| 117 |
+
"stage_capture_s": 0.13080245698802173,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008245655102655292,
|
| 123 |
+
"complete_s": 0.01913794712163508
|
| 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": 0.00011478597298264503,
|
| 134 |
+
"complete_s": 0.00023754499852657318
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3690030958969146
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.626385631971061,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532768931612563,
|
| 144 |
+
"tell_score": 0.0008532768931612563,
|
| 145 |
+
"observation_score": 0.000492649055086669,
|
| 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/g214/a09/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:420e4cedffa57a7f46ddaca6f979a4bb0cc03ed489fef3b94af0d8c3693ce9ce
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fca2f9d7efb1784a41ca76d326e896a856341cc559a228ac72dccf27d4f1d211
|
| 3 |
+
size 88590
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:abb086ed14049388383fe81bcb6bae2eab5efc2c3838856bebd724568f34946f
|
| 3 |
+
size 396772
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/a10/record.json
ADDED
|
@@ -0,0 +1,148 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 214,
|
| 4 |
+
"ask_index": 10,
|
| 5 |
+
"global_ask_index": 2364,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.411666307635873,
|
| 8 |
+
0.999834961424628,
|
| 9 |
+
0.9978184865553764,
|
| 10 |
+
0.5072122526741486,
|
| 11 |
+
0.864328902365412,
|
| 12 |
+
0.7311961454864003,
|
| 13 |
+
0.3357074013251248,
|
| 14 |
+
0.6274682660852453,
|
| 15 |
+
0.15162471352735787,
|
| 16 |
+
0.8403258093309481,
|
| 17 |
+
0.9999894124311223,
|
| 18 |
+
0.9999176578085044
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41166.630763587294,
|
| 22 |
+
"object_radius_m": 0.049993398456985125,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045504857687190405,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7311961454864003,
|
| 27 |
+
"ground_friction": 0.6714148026502496,
|
| 28 |
+
"object_restitution": 0.6274682660852453,
|
| 29 |
+
"object_friction": 0.30324942705471575,
|
| 30 |
+
"collision_distance_m": 0.04361303237323793,
|
| 31 |
+
"drag_damping": 19.999788248622444,
|
| 32 |
+
"dashpot_damping": 199.9835315617009
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1140,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 5.752380689838901,
|
| 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": 0.05896393791772425,
|
| 114 |
+
"workspace_s": 0.22025503008626401,
|
| 115 |
+
"objective_s": 0.006668895948678255,
|
| 116 |
+
"stage_capture_s": 0.14615538995712996,
|
| 117 |
+
"warm_launch": {
|
| 118 |
+
"dynamics": {
|
| 119 |
+
"launched": true,
|
| 120 |
+
"graph_exec_existed": false,
|
| 121 |
+
"instantiate_and_enqueue_s": 0.008334203157573938,
|
| 122 |
+
"complete_s": 0.019203357165679336
|
| 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": 0.00013243290595710278,
|
| 133 |
+
"complete_s": 0.0002489648759365082
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"total_s": 0.3926994549110532
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"wall_time_s": 6.21708221687004,
|
| 141 |
+
"outcome": "finite",
|
| 142 |
+
"score": 0.000853914080155433,
|
| 143 |
+
"tell_score": 0.000853914080155433,
|
| 144 |
+
"observation_score": 0.0004930204302622594,
|
| 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/g214/a10/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fd4cd9870c509c7a274ae47efccaa5f63b6144c255981ec9cdfcc2b579eaa08
|
| 3 |
+
size 2528878
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/issued.npy
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3c21dbad0017f3d0e4e62eba61e75451460ae68e6be9cab62f7bee47140d7f1
|
| 3 |
+
size 1184
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/lifecycle.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"invocation": 1, "kind": "invocation_start", "t_unix_s": 1791684143.6876342, "t_invocation_s": 0.00011898, "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": 1791684143.6882536, "t_invocation_s": 0.000738473, "wave": 0, "members": [0, 1], "occupancy": 2}
|
| 3 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684144.1964066, "t_invocation_s": 0.50889147, "wave": 0, "index": 0, "preparation": {"decode_topology_model_s": 0.1296058048028499, "workspace_s": 0.21819550986401737, "objective_s": 0.0058010779321193695, "stage_capture_s": 0.12983206403441727, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007741988869383931, "complete_s": 0.01861298899166286}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010322080925107002, "complete_s": 0.00023522600531578064}}, "total_s": 0.3728545249905437}, "object_springs": 18544, "controller_springs": 1140}
|
| 4 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684144.7085035, "t_invocation_s": 1.020988687, "wave": 0, "index": 1, "preparation": {"decode_topology_model_s": 0.052889910992234945, "workspace_s": 0.29690671106800437, "objective_s": 0.005762991029769182, "stage_capture_s": 0.1266771659720689, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007912670029327273, "complete_s": 0.01880656904540956}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.636394679546356e-05, "complete_s": 0.0002169269137084484}}, "total_s": 0.4485455791000277}, "object_springs": 18544, "controller_springs": 1141}
|
| 5 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684144.7136605, "t_invocation_s": 1.026145278, "wave": 0, "members": [0, 1]}
|
| 6 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684152.7795064, "t_invocation_s": 9.09199157, "wave": 0, "index": 0, "arrival": 0}
|
| 7 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684152.7922738, "t_invocation_s": 9.104758452, "wave": 0, "index": 1, "arrival": 1}
|
| 8 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684152.8194103, "t_invocation_s": 9.131895644, "wave": 0, "drained": {"0": "drained", "1": "drained"}}
|
| 9 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684152.8456168, "t_invocation_s": 9.158102385, "wave": 0, "commit_order": [0, 1]}
|
| 10 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791684152.8463137, "t_invocation_s": 9.158798631, "wave": 1, "members": [2, 3], "occupancy": 2}
|
| 11 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684153.2812471, "t_invocation_s": 9.593732268, "wave": 1, "index": 2, "preparation": {"decode_topology_model_s": 0.05750178196467459, "workspace_s": 0.21575634507462382, "objective_s": 0.005848882952705026, "stage_capture_s": 0.13033015187829733, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008088628062978387, "complete_s": 0.018963305046781898}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00013460894115269184, "complete_s": 0.0002573970705270767}}, "total_s": 0.37136290897615254}, "object_springs": 18544, "controller_springs": 1140}
|
| 12 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684153.7927623, "t_invocation_s": 10.105247361, "wave": 1, "index": 3, "preparation": {"decode_topology_model_s": 0.053448974853381515, "workspace_s": 0.29725627112202346, "objective_s": 0.0057915858924388885, "stage_capture_s": 0.1303590319585055, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0074834569822996855, "complete_s": 0.018374905921518803}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00010980688966810703, "complete_s": 0.00024124979972839355}}, "total_s": 0.45220395596697927}, "object_springs": 18544, "controller_springs": 1139}
|
| 13 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684153.7979925, "t_invocation_s": 10.110477235, "wave": 1, "members": [2, 3]}
|
| 14 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684161.8700266, "t_invocation_s": 18.182511617, "wave": 1, "index": 2, "arrival": 0}
|
| 15 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684161.8781116, "t_invocation_s": 18.190596785, "wave": 1, "index": 3, "arrival": 1}
|
| 16 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684161.90642, "t_invocation_s": 18.218905181, "wave": 1, "drained": {"2": "drained", "3": "drained"}}
|
| 17 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684161.937459, "t_invocation_s": 18.24994405, "wave": 1, "commit_order": [2, 3]}
|
| 18 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791684161.9380882, "t_invocation_s": 18.250572895, "wave": 2, "members": [4, 5], "occupancy": 2}
|
| 19 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684162.361633, "t_invocation_s": 18.674118131, "wave": 2, "index": 4, "preparation": {"decode_topology_model_s": 0.05709268804639578, "workspace_s": 0.2102000629529357, "objective_s": 0.00575604010373354, "stage_capture_s": 0.1262587399687618, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0071309220511466265, "complete_s": 0.018023120937868953}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.881099686026573e-05, "complete_s": 0.00023522996343672276}}, "total_s": 0.3606456918641925}, "object_springs": 18544, "controller_springs": 1139}
|
| 20 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684162.8838644, "t_invocation_s": 19.196349388, "wave": 2, "index": 5, "preparation": {"decode_topology_model_s": 0.05318489298224449, "workspace_s": 0.30128454603254795, "objective_s": 0.005886520026251674, "stage_capture_s": 0.13202335289679468, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.00805209600366652, "complete_s": 0.018942963099107146}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.865104220807552e-05, "complete_s": 0.00022841012105345726}}, "total_s": 0.45853218995034695}, "object_springs": 18544, "controller_springs": 1141}
|
| 21 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684162.8891084, "t_invocation_s": 19.201593337, "wave": 2, "members": [4, 5]}
|
| 22 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684170.957637, "t_invocation_s": 27.270122111, "wave": 2, "index": 4, "arrival": 0}
|
| 23 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684170.9702713, "t_invocation_s": 27.282756121, "wave": 2, "index": 5, "arrival": 1}
|
| 24 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684170.9968011, "t_invocation_s": 27.309286264, "wave": 2, "drained": {"4": "drained", "5": "drained"}}
|
| 25 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684171.024723, "t_invocation_s": 27.337208083, "wave": 2, "commit_order": [4, 5]}
|
| 26 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791684171.025455, "t_invocation_s": 27.337940151, "wave": 3, "members": [6, 7], "occupancy": 2}
|
| 27 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684171.4542274, "t_invocation_s": 27.766712794, "wave": 3, "index": 6, "preparation": {"decode_topology_model_s": 0.05516427103430033, "workspace_s": 0.21302297711372375, "objective_s": 0.00588303292170167, "stage_capture_s": 0.13033759407699108, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007435909006744623, "complete_s": 0.01830701297149062}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 9.924895130097866e-05, "complete_s": 0.0002323680091649294}}, "total_s": 0.36796374595724046}, "object_springs": 18544, "controller_springs": 1140}
|
| 28 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684171.9723814, "t_invocation_s": 28.284866498, "wave": 3, "index": 7, "preparation": {"decode_topology_model_s": 0.05306040495634079, "workspace_s": 0.2972841300070286, "objective_s": 0.005845970939844847, "stage_capture_s": 0.13229184108786285, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.007885717088356614, "complete_s": 0.018777213990688324}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011110212653875351, "complete_s": 0.0002476540394127369}}, "total_s": 0.4546348210424185}, "object_springs": 18544, "controller_springs": 1140}
|
| 29 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684171.977563, "t_invocation_s": 28.29004765, "wave": 3, "members": [6, 7]}
|
| 30 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684180.0463314, "t_invocation_s": 36.358816519, "wave": 3, "index": 6, "arrival": 0}
|
| 31 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684180.0589435, "t_invocation_s": 36.371428417, "wave": 3, "index": 7, "arrival": 1}
|
| 32 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684180.0872386, "t_invocation_s": 36.399724019, "wave": 3, "drained": {"6": "drained", "7": "drained"}}
|
| 33 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684180.1155975, "t_invocation_s": 36.428082879, "wave": 3, "commit_order": [6, 7]}
|
| 34 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791684180.1162338, "t_invocation_s": 36.428718386, "wave": 4, "members": [8, 9], "occupancy": 2}
|
| 35 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684180.5431685, "t_invocation_s": 36.855653596, "wave": 4, "index": 8, "preparation": {"decode_topology_model_s": 0.05765210697427392, "workspace_s": 0.21175769995898008, "objective_s": 0.005766327027231455, "stage_capture_s": 0.12676490703597665, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.0077657748479396105, "complete_s": 0.01862346287816763}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00013419310562312603, "complete_s": 0.00025972118601202965}}, "total_s": 0.36333987093530595}, "object_springs": 18544, "controller_springs": 1140}
|
| 36 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684181.064157, "t_invocation_s": 37.376641921, "wave": 4, "index": 9, "preparation": {"decode_topology_model_s": 0.1416192778851837, "workspace_s": 0.21280216495506465, "objective_s": 0.005845452891662717, "stage_capture_s": 0.13080245698802173, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008245655102655292, "complete_s": 0.01913794712163508}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00011478597298264503, "complete_s": 0.00023754499852657318}}, "total_s": 0.3690030958969146}, "object_springs": 18544, "controller_springs": 1139}
|
| 37 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684181.0693035, "t_invocation_s": 37.381788403, "wave": 4, "members": [8, 9]}
|
| 38 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684189.1671033, "t_invocation_s": 45.479588444, "wave": 4, "index": 8, "arrival": 0}
|
| 39 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684189.1812053, "t_invocation_s": 45.493690445, "wave": 4, "index": 9, "arrival": 1}
|
| 40 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684189.2104778, "t_invocation_s": 45.522963134, "wave": 4, "drained": {"8": "drained", "9": "drained"}}
|
| 41 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684189.23997, "t_invocation_s": 45.552455513, "wave": 4, "commit_order": [8, 9]}
|
| 42 |
+
{"invocation": 1, "kind": "wave_start", "t_unix_s": 1791684189.2407155, "t_invocation_s": 45.553200407, "wave": 5, "members": [10], "occupancy": 1}
|
| 43 |
+
{"invocation": 1, "kind": "prepared", "t_unix_s": 1791684189.698267, "t_invocation_s": 46.010751957, "wave": 5, "index": 10, "preparation": {"decode_topology_model_s": 0.05896393791772425, "workspace_s": 0.22025503008626401, "objective_s": 0.006668895948678255, "stage_capture_s": 0.14615538995712996, "warm_launch": {"dynamics": {"launched": true, "graph_exec_existed": false, "instantiate_and_enqueue_s": 0.008334203157573938, "complete_s": 0.019203357165679336}, "objective": {"launched": 4, "graph_exec_existed": {"clear": false, "select": false, "loss": false, "history": false}, "instantiate_and_enqueue_s": 0.00013243290595710278, "complete_s": 0.0002489648759365082}}, "total_s": 0.3926994549110532}, "object_springs": 18544, "controller_springs": 1140}
|
| 44 |
+
{"invocation": 1, "kind": "resident", "t_unix_s": 1791684189.703484, "t_invocation_s": 46.015969128, "wave": 5, "members": [10]}
|
| 45 |
+
{"invocation": 1, "kind": "commit", "t_unix_s": 1791684195.4644866, "t_invocation_s": 51.776971657, "wave": 5, "index": 10, "arrival": 0}
|
| 46 |
+
{"invocation": 1, "kind": "released", "t_unix_s": 1791684195.4696681, "t_invocation_s": 51.7821529, "wave": 5, "drained": {"10": "drained"}}
|
| 47 |
+
{"invocation": 1, "kind": "wave_end", "t_unix_s": 1791684195.496337, "t_invocation_s": 51.808821925, "wave": 5, "commit_order": [10]}
|
| 48 |
+
{"invocation": 1, "kind": "told", "t_unix_s": 1791684195.498338, "t_invocation_s": 51.810822816, "generation": 214, "told_asks": 11, "physical_failures": 0, "champion_global_ask_index": 2331}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/strategy_after_ask.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2b5b897fb65d5087558126c39f97b7fd1cc8067933d773319728f17794cfd3ba
|
| 3 |
+
size 31806
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/strategy_after_tell.pkl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:600dc6e73de6a50a191315612e0d131539551d04cbfba4efdbfa1f4e73781106
|
| 3 |
+
size 28539
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g214/told.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"generation": 214,
|
| 3 |
+
"told_scores": [
|
| 4 |
+
0.000853745848427208,
|
| 5 |
+
0.0008538027611899459,
|
| 6 |
+
0.0008537066741972164,
|
| 7 |
+
0.0008532810085821782,
|
| 8 |
+
0.0008533024853715424,
|
| 9 |
+
0.0008537594689754058,
|
| 10 |
+
0.0008537357338088187,
|
| 11 |
+
0.000853700986354424,
|
| 12 |
+
0.0008536841470470544,
|
| 13 |
+
0.0008532768931612563,
|
| 14 |
+
0.000853914080155433
|
| 15 |
+
],
|
| 16 |
+
"physical_failures": 0,
|
| 17 |
+
"physical_failures_total": 0,
|
| 18 |
+
"issued_asks_total": 2365,
|
| 19 |
+
"told_asks_total": 2365,
|
| 20 |
+
"champion": {
|
| 21 |
+
"generation": 211,
|
| 22 |
+
"ask_index": 10,
|
| 23 |
+
"global_ask_index": 2331,
|
| 24 |
+
"score": 0.0008531408334207102,
|
| 25 |
+
"observation_score": 0.0004926315405526504,
|
| 26 |
+
"normalized": [
|
| 27 |
+
0.4130373797915171,
|
| 28 |
+
0.999963367138126,
|
| 29 |
+
0.9969668421431549,
|
| 30 |
+
0.5071052531621136,
|
| 31 |
+
0.8628089789102645,
|
| 32 |
+
0.7308839022975702,
|
| 33 |
+
0.3370325547069032,
|
| 34 |
+
0.6309539593658786,
|
| 35 |
+
0.1423424249078512,
|
| 36 |
+
0.837551676411954,
|
| 37 |
+
0.9999821308374417,
|
| 38 |
+
0.9999309401043289
|
| 39 |
+
],
|
| 40 |
+
"settings": {
|
| 41 |
+
"spring_y": 41303.73797915171,
|
| 42 |
+
"object_radius_m": 0.049998534685525044,
|
| 43 |
+
"object_max_neighbours": 49,
|
| 44 |
+
"controller_radius_m": 0.04549736772134796,
|
| 45 |
+
"controller_max_neighbours": 70,
|
| 46 |
+
"ground_restitution": 0.7308839022975702,
|
| 47 |
+
"ground_friction": 0.6740651094138064,
|
| 48 |
+
"object_restitution": 0.6309539593658786,
|
| 49 |
+
"object_friction": 0.2846848498157024,
|
| 50 |
+
"collision_distance_m": 0.04350206705647817,
|
| 51 |
+
"drag_damping": 19.999642616748833,
|
| 52 |
+
"dashpot_damping": 199.9861880208658
|
| 53 |
+
}
|
| 54 |
+
},
|
| 55 |
+
"pycma": {
|
| 56 |
+
"countiter": 215,
|
| 57 |
+
"countevals": 2365,
|
| 58 |
+
"sigma": 0.003947492897443159
|
| 59 |
+
}
|
| 60 |
+
}
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8b0bdc69f4b9f19098d98ca6acffb2dcd0ad8bdeb463f67a0a22e99b53f3093e
|
| 3 |
+
size 88562
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d71d20b9c61c4b20a60c037cf57b4c20676f9ca64dbcf01970def609ed818ebc
|
| 3 |
+
size 396748
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a00/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 0,
|
| 5 |
+
"global_ask_index": 2365,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41304968698906586,
|
| 8 |
+
0.9997245995926746,
|
| 9 |
+
0.9979379082766356,
|
| 10 |
+
0.5071218658738356,
|
| 11 |
+
0.862802499013135,
|
| 12 |
+
0.7252002809376116,
|
| 13 |
+
0.3460840400044194,
|
| 14 |
+
0.6285529649421436,
|
| 15 |
+
0.15458279289745402,
|
| 16 |
+
0.841701722791122,
|
| 17 |
+
0.9999903190908491,
|
| 18 |
+
0.9999955165109534
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41304.96869890659,
|
| 22 |
+
"object_radius_m": 0.049988983983706985,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549853061116849,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7252002809376116,
|
| 27 |
+
"ground_friction": 0.6921680800088388,
|
| 28 |
+
"object_restitution": 0.6285529649421436,
|
| 29 |
+
"object_friction": 0.30916558579490805,
|
| 30 |
+
"collision_distance_m": 0.04366806891164488,
|
| 31 |
+
"drag_damping": 19.99980638181698,
|
| 32 |
+
"dashpot_damping": 199.9991033021907
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.07511631003581,
|
| 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": 0.05647175386548042,
|
| 115 |
+
"workspace_s": 0.21448300406336784,
|
| 116 |
+
"objective_s": 0.006083484040573239,
|
| 117 |
+
"stage_capture_s": 0.13165038591250777,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008013057988137007,
|
| 123 |
+
"complete_s": 0.018879924900829792
|
| 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": 0.00010056793689727783,
|
| 134 |
+
"complete_s": 0.0002328590489923954
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3715239781886339
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.036549143027514,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532738682300387,
|
| 144 |
+
"tell_score": 0.0008532738682300387,
|
| 145 |
+
"observation_score": 0.0004926284791379143,
|
| 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/g215/a00/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9d1d4d150997595723e245935fd0e8315c7753902496fe13aed411d6d8eb6640
|
| 3 |
+
size 2528890
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c906c384ad9d940a8288fc308f501c3587b3ccb1e39ff66a24fbdd9dff9b7dac
|
| 3 |
+
size 88578
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9358e441ecbbda1897edaee696f0660f5423c9fb966e3b84f92ab22b55e7bd33
|
| 3 |
+
size 396764
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a01/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 1,
|
| 5 |
+
"global_ask_index": 2366,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4127749759341599,
|
| 8 |
+
0.9998510551518608,
|
| 9 |
+
0.9983223652807496,
|
| 10 |
+
0.5071898484821581,
|
| 11 |
+
0.861948372294048,
|
| 12 |
+
0.7348466651644726,
|
| 13 |
+
0.3410805975831788,
|
| 14 |
+
0.6268874251133572,
|
| 15 |
+
0.15438315796913119,
|
| 16 |
+
0.842076692300412,
|
| 17 |
+
0.9999999996353615,
|
| 18 |
+
0.9999710926851991
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41277.49759341599,
|
| 22 |
+
"object_radius_m": 0.04999404220607444,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04550328939375107,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7348466651644726,
|
| 27 |
+
"ground_friction": 0.6821611951663576,
|
| 28 |
+
"object_restitution": 0.6268874251133572,
|
| 29 |
+
"object_friction": 0.30876631593826237,
|
| 30 |
+
"collision_distance_m": 0.043683067692016485,
|
| 31 |
+
"drag_damping": 19.99999999270723,
|
| 32 |
+
"dashpot_damping": 199.9942185370398
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1140,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.07511631003581,
|
| 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": 0.053239048924297094,
|
| 115 |
+
"workspace_s": 0.2992019229568541,
|
| 116 |
+
"objective_s": 0.005957104032859206,
|
| 117 |
+
"stage_capture_s": 0.13152045593596995,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008059278130531311,
|
| 123 |
+
"complete_s": 0.01894148113206029
|
| 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": 0.00010656705126166344,
|
| 134 |
+
"complete_s": 0.000252285972237587
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4560662240255624
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.611180637963116,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008537373066752487,
|
| 144 |
+
"tell_score": 0.0008537373066752487,
|
| 145 |
+
"observation_score": 0.0004927842665039042,
|
| 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/g215/a01/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ecefb066f533441efc2bd4a9beee1ee3899ef9ee1e1869cf829d59cd510ebe2a
|
| 3 |
+
size 2528882
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b55c20ac7c05638788e329629692ec0bdbfd52d80c3926660c742d1246dd1274
|
| 3 |
+
size 88546
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:589f391d232775e3562a99b703790fe2a8d68e023e1faad72a27c69a45b7ead4
|
| 3 |
+
size 396744
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a02/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 2,
|
| 5 |
+
"global_ask_index": 2367,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41308351337263155,
|
| 8 |
+
0.9999893573540445,
|
| 9 |
+
0.9982330249018873,
|
| 10 |
+
0.5071020139976581,
|
| 11 |
+
0.8652510693141736,
|
| 12 |
+
0.7196659451047505,
|
| 13 |
+
0.3459180010426553,
|
| 14 |
+
0.6352651408704596,
|
| 15 |
+
0.15429507557027602,
|
| 16 |
+
0.8358321276555968,
|
| 17 |
+
0.9999901796393474,
|
| 18 |
+
0.9999104807476659
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41308.35133726316,
|
| 22 |
+
"object_radius_m": 0.04999957429416178,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549714097983607,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7196659451047505,
|
| 27 |
+
"ground_friction": 0.6918360020853106,
|
| 28 |
+
"object_restitution": 0.6352651408704596,
|
| 29 |
+
"object_friction": 0.30859015114055205,
|
| 30 |
+
"collision_distance_m": 0.04343328510622387,
|
| 31 |
+
"drag_damping": 19.99980359278695,
|
| 32 |
+
"dashpot_damping": 199.98209614953316
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.074784862110391,
|
| 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": 0.0572099881246686,
|
| 115 |
+
"workspace_s": 0.20651834597811103,
|
| 116 |
+
"objective_s": 0.005887697916477919,
|
| 117 |
+
"stage_capture_s": 0.12736351299099624,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007767427014186978,
|
| 123 |
+
"complete_s": 0.01862728293053806
|
| 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": 0.00012986687943339348,
|
| 134 |
+
"complete_s": 0.00024673109874129295
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.3588389069773257
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.017881034174934,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532748233810041,
|
| 144 |
+
"tell_score": 0.0008532748233810041,
|
| 145 |
+
"observation_score": 0.0004926211997571917,
|
| 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/g215/a02/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c46ca5e72e9a5c9e5946da4bc9b8faac509ba55a9a1688cbacaaae4efe06caea
|
| 3 |
+
size 2528902
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8102604e1758827437044ef33943ffeebee8f577a4d191e9df7f1d38520518da
|
| 3 |
+
size 88602
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d7e753222715ffb84579c791007bae22ac73d021cac0018f22ed447a1d54a62
|
| 3 |
+
size 396748
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a03/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 3,
|
| 5 |
+
"global_ask_index": 2368,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.41277428935644644,
|
| 8 |
+
0.9999589473784853,
|
| 9 |
+
0.9983658179835996,
|
| 10 |
+
0.5070806918475487,
|
| 11 |
+
0.8629695015482062,
|
| 12 |
+
0.7343141804604373,
|
| 13 |
+
0.34158818709554284,
|
| 14 |
+
0.6316344151417074,
|
| 15 |
+
0.14494040532791777,
|
| 16 |
+
0.8381441092883982,
|
| 17 |
+
0.9999999736143428,
|
| 18 |
+
0.9999412918704197
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41277.428935644646,
|
| 22 |
+
"object_radius_m": 0.049998357895139414,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549564842932841,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7343141804604373,
|
| 27 |
+
"ground_friction": 0.6831763741910857,
|
| 28 |
+
"object_restitution": 0.6316344151417074,
|
| 29 |
+
"object_friction": 0.28988081065583554,
|
| 30 |
+
"collision_distance_m": 0.04352576437153593,
|
| 31 |
+
"drag_damping": 19.999999472286856,
|
| 32 |
+
"dashpot_damping": 199.98825837408393
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.074784862110391,
|
| 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": 0.05151121085509658,
|
| 115 |
+
"workspace_s": 0.29757393989712,
|
| 116 |
+
"objective_s": 0.00594688905403018,
|
| 117 |
+
"stage_capture_s": 0.12965221190825105,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007738442858681083,
|
| 123 |
+
"complete_s": 0.018635523039847612
|
| 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": 9.905500337481499e-05,
|
| 134 |
+
"complete_s": 0.0002089629415422678
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4521827988792211
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.604564576875418,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532846679591172,
|
| 144 |
+
"tell_score": 0.0008532846679591172,
|
| 145 |
+
"observation_score": 0.0004926880701347122,
|
| 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/g215/a03/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:42064b6e14a0e4c9b5e492359ad293257671e6a6a0dca85b7b620981e95f2947
|
| 3 |
+
size 2528886
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0bd40e34c2293052c3e77bdcbe43a5fa0bf2d9e45336b9f9e7c1920fa8f6aff4
|
| 3 |
+
size 88578
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e0772a99d5d04956e403f4ec6edcb746140f26fa324c4d01de032649d96c4c8
|
| 3 |
+
size 396748
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a04/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 4,
|
| 5 |
+
"global_ask_index": 2369,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4141613751632571,
|
| 8 |
+
0.9999761048631616,
|
| 9 |
+
0.9983175538988702,
|
| 10 |
+
0.5070772687247235,
|
| 11 |
+
0.8659758693263263,
|
| 12 |
+
0.726026599323288,
|
| 13 |
+
0.34016579751754533,
|
| 14 |
+
0.6290993383966612,
|
| 15 |
+
0.1518999733951921,
|
| 16 |
+
0.8435341607123142,
|
| 17 |
+
0.9999871298320919,
|
| 18 |
+
0.9999521004758442
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41416.13751632571,
|
| 22 |
+
"object_radius_m": 0.049999044194526464,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549540881073065,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.726026599323288,
|
| 27 |
+
"ground_friction": 0.6803315950350907,
|
| 28 |
+
"object_restitution": 0.6290993383966612,
|
| 29 |
+
"object_friction": 0.3037999467903842,
|
| 30 |
+
"collision_distance_m": 0.04374136642849257,
|
| 31 |
+
"drag_damping": 19.999742596641838,
|
| 32 |
+
"dashpot_damping": 199.99042009516884
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.078304531052709,
|
| 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": 0.05845174100250006,
|
| 115 |
+
"workspace_s": 0.21737194992601871,
|
| 116 |
+
"objective_s": 0.005820141173899174,
|
| 117 |
+
"stage_capture_s": 0.13012657989747822,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.007790914038196206,
|
| 123 |
+
"complete_s": 0.01865814602933824
|
| 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": 0.00010220613330602646,
|
| 134 |
+
"complete_s": 0.00023511098697781563
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.37240914604626596
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.038517990149558,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.000853238336276263,
|
| 144 |
+
"tell_score": 0.000853238336276263,
|
| 145 |
+
"observation_score": 0.0004923868649167364,
|
| 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/g215/a04/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f31f0dfcd5f21b08f950455ddca03e5ed0d642b7b4211d2581771b352f5cc51c
|
| 3 |
+
size 2528898
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:66fb2658df5dcc1cb7cc65cf23f9ecf3cacbece30898a9172ca35f0634675a0a
|
| 3 |
+
size 88558
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2afe5251870ee32b7b1a34db9a06e223d040e820ff2f34aaa4784ca6c1868587
|
| 3 |
+
size 396764
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a05/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 5,
|
| 5 |
+
"global_ask_index": 2370,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4117878339914735,
|
| 8 |
+
0.9999419160758487,
|
| 9 |
+
0.9984140408834512,
|
| 10 |
+
0.5071834606458147,
|
| 11 |
+
0.8619765393797668,
|
| 12 |
+
0.7316037070581158,
|
| 13 |
+
0.33865430774130745,
|
| 14 |
+
0.6273066275539743,
|
| 15 |
+
0.1510302455128652,
|
| 16 |
+
0.8375795248263741,
|
| 17 |
+
0.999998935430402,
|
| 18 |
+
0.9999996261125329
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41178.78339914735,
|
| 22 |
+
"object_radius_m": 0.04999767664303395,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04550284224520703,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7316037070581158,
|
| 27 |
+
"ground_friction": 0.6773086154826149,
|
| 28 |
+
"object_restitution": 0.6273066275539743,
|
| 29 |
+
"object_friction": 0.3020604910257304,
|
| 30 |
+
"collision_distance_m": 0.04350318099305497,
|
| 31 |
+
"drag_damping": 19.99997870860804,
|
| 32 |
+
"dashpot_damping": 199.9999252225066
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1140,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.045499205589294434
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 221,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 651,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.078304531052709,
|
| 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": 0.05308448406867683,
|
| 115 |
+
"workspace_s": 0.301154623972252,
|
| 116 |
+
"objective_s": 0.005714447004720569,
|
| 117 |
+
"stage_capture_s": 0.12675643409602344,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.0075337139423936605,
|
| 123 |
+
"complete_s": 0.01842709700576961
|
| 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": 0.0001101840753108263,
|
| 134 |
+
"complete_s": 0.0002477560192346573
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.452485010959208
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.61031814594753,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008537676393275165,
|
| 144 |
+
"tell_score": 0.0008537676393275165,
|
| 145 |
+
"observation_score": 0.0004929948636734206,
|
| 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/g215/a05/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:263b70c5802e830da23e6ca12ea1812fb20b7aab9dbd247a59a5cf41dd914b8b
|
| 3 |
+
size 2528878
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e882762b7affb4f307ceeefccfe2662751c6d3f4911b7cc10a267287b72dc478
|
| 3 |
+
size 88594
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:118fcf0d5d31a23cffedcf3719e2a1b114695946fe49eea496ff4092e116d0cc
|
| 3 |
+
size 396748
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a06/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 6,
|
| 5 |
+
"global_ask_index": 2371,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4128087356743326,
|
| 8 |
+
0.9996456106156496,
|
| 9 |
+
0.9983350602316498,
|
| 10 |
+
0.5070472604822995,
|
| 11 |
+
0.8632809970334239,
|
| 12 |
+
0.7283006791753555,
|
| 13 |
+
0.33527572492426705,
|
| 14 |
+
0.6231262002221991,
|
| 15 |
+
0.15616297723952824,
|
| 16 |
+
0.8404422428242523,
|
| 17 |
+
0.9999904701423873,
|
| 18 |
+
0.9999854583981581
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41280.873567433264,
|
| 22 |
+
"object_radius_m": 0.049985824424625985,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.04549330823376097,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7283006791753555,
|
| 27 |
+
"ground_friction": 0.6705514498485341,
|
| 28 |
+
"object_restitution": 0.6231262002221991,
|
| 29 |
+
"object_friction": 0.3123259544790565,
|
| 30 |
+
"collision_distance_m": 0.043617689712970094,
|
| 31 |
+
"drag_damping": 19.999809402847745,
|
| 32 |
+
"dashpot_damping": 199.9970916796316
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.082274039043114,
|
| 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": 0.05834713694639504,
|
| 115 |
+
"workspace_s": 0.22532069985754788,
|
| 116 |
+
"objective_s": 0.005918808979913592,
|
| 117 |
+
"stage_capture_s": 0.13227441511116922,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008165688021108508,
|
| 123 |
+
"complete_s": 0.019036764046177268
|
| 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": 0.00011378107592463493,
|
| 134 |
+
"complete_s": 0.00027113710530102253
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.38300448399968445
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 9.062375342007726,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532835583533531,
|
| 144 |
+
"tell_score": 0.0008532835583533531,
|
| 145 |
+
"observation_score": 0.0004926802668998601,
|
| 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/g215/a06/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aeddb7625a0d380f7e116750a466fb8c59277fbc91cdb8b891fa913c7297177b
|
| 3 |
+
size 2528914
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3b3e7d5efb9e169cb9726b37ab9b76733a0ff7bdd96192e04b3dcd32c88a5bb
|
| 3 |
+
size 88578
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dd9e330751886a5b339c5cf713ee66d5129066b4218988ce3dfce445f7865ad1
|
| 3 |
+
size 396752
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a07/record.json
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"stage": "cma_ask",
|
| 3 |
+
"generation": 215,
|
| 4 |
+
"ask_index": 7,
|
| 5 |
+
"global_ask_index": 2372,
|
| 6 |
+
"normalized": [
|
| 7 |
+
0.4112862098449836,
|
| 8 |
+
0.9999790553298908,
|
| 9 |
+
0.9985794140709385,
|
| 10 |
+
0.5071032804654123,
|
| 11 |
+
0.8624492899028428,
|
| 12 |
+
0.7315665816713739,
|
| 13 |
+
0.34754875832197996,
|
| 14 |
+
0.6318303797834345,
|
| 15 |
+
0.15165323403110062,
|
| 16 |
+
0.8362530546711285,
|
| 17 |
+
0.9999095864955565,
|
| 18 |
+
0.9996095663152005
|
| 19 |
+
],
|
| 20 |
+
"settings": {
|
| 21 |
+
"spring_y": 41128.62098449836,
|
| 22 |
+
"object_radius_m": 0.049999162213195635,
|
| 23 |
+
"object_max_neighbours": 49,
|
| 24 |
+
"controller_radius_m": 0.045497229632578864,
|
| 25 |
+
"controller_max_neighbours": 70,
|
| 26 |
+
"ground_restitution": 0.7315665816713739,
|
| 27 |
+
"ground_friction": 0.6950975166439599,
|
| 28 |
+
"object_restitution": 0.6318303797834345,
|
| 29 |
+
"object_friction": 0.30330646806220124,
|
| 30 |
+
"collision_distance_m": 0.043450122186845144,
|
| 31 |
+
"drag_damping": 19.99819172991113,
|
| 32 |
+
"dashpot_damping": 199.9219132630401
|
| 33 |
+
},
|
| 34 |
+
"topology": {
|
| 35 |
+
"object_springs": 18544,
|
| 36 |
+
"controller_springs": 1139,
|
| 37 |
+
"object_rest_min_max_m": [
|
| 38 |
+
0.0004799506568815559,
|
| 39 |
+
0.04033707454800606
|
| 40 |
+
],
|
| 41 |
+
"controller_rest_min_max_m": [
|
| 42 |
+
0.0061761378310620785,
|
| 43 |
+
0.04549137130379677
|
| 44 |
+
],
|
| 45 |
+
"isolated_object_nodes": 0,
|
| 46 |
+
"attached_object_nodes": 220,
|
| 47 |
+
"controls_without_attachment": 0,
|
| 48 |
+
"attachments_by_hand": {
|
| 49 |
+
"hand_A": 650,
|
| 50 |
+
"hand_B": 489
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"execution": {
|
| 54 |
+
"device": "cuda:0",
|
| 55 |
+
"transition_capture": true,
|
| 56 |
+
"objective_capture": true,
|
| 57 |
+
"wall_time_s": 8.082274039043114,
|
| 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": 0.05386363109573722,
|
| 115 |
+
"workspace_s": 0.30127449706196785,
|
| 116 |
+
"objective_s": 0.005858037853613496,
|
| 117 |
+
"stage_capture_s": 0.13423728104680777,
|
| 118 |
+
"warm_launch": {
|
| 119 |
+
"dynamics": {
|
| 120 |
+
"launched": true,
|
| 121 |
+
"graph_exec_existed": false,
|
| 122 |
+
"instantiate_and_enqueue_s": 0.008036926854401827,
|
| 123 |
+
"complete_s": 0.018931365804746747
|
| 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": 0.00010389694944024086,
|
| 134 |
+
"complete_s": 0.00022756983526051044
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"total_s": 0.4607100640423596
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"wall_time_s": 8.624667285010219,
|
| 142 |
+
"outcome": "finite",
|
| 143 |
+
"score": 0.0008532731049954217,
|
| 144 |
+
"tell_score": 0.0008532731049954217,
|
| 145 |
+
"observation_score": 0.0004930166725339339,
|
| 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/g215/a07/rollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e844911d7a0c7ddf2ca65a7c7273a8fe51ac9d87ed60feefdb2af8ae60d1264
|
| 3 |
+
size 2528906
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a08/model/model.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a3e7a0f9132f13d3a4afd282c36755f0274bab66c16f19b32e712347c667892
|
| 3 |
+
size 88590
|
sessions/session_20260921_225630_786148/runs/lab-a-faithful-tracking/native/cma/generations/g215/a08/model/topology.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5fd858f04b95b63a41a8208f59cf8a14da982f06403846317d37cf78ef238599
|
| 3 |
+
size 396720
|