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--git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/setup/exec_focused_tests_8c03605e.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/setup/exec_focused_tests_8c03605e.log new file mode 100644 index 0000000000000000000000000000000000000000..1b94d6a10c4b41e68f01e9a8ebeaee3d34ffa29c --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/setup/exec_focused_tests_8c03605e.log @@ -0,0 +1,113 @@ +Agent preflight summary + execution_environment: local + pwd: /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 + git_root: /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 + branch: cursor/u08c_d3_lab_b_exec_20261014 + belt.agentGuards: true + core.hooksPath: scripts/git-hooks + marker.branch: cursor/u08c_d3_lab_b_exec_20261014 + marker.environment: local + marker.canonical_path: /home/magna/belt_perception + marker.worktree_path: /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 + marker.base_commit: a4b23833d614b43bcd440c4c2c9dc29eb919adec + marker.created_at: 2026-10-15T00:00:22Z + resolved.canonical: /home/magna/belt_perception + resolved.worktree_root: /mnt/data0/magna + resolved.data_root: /mnt/data2/magna + resolved.shared_root: /mnt/data2/magna/belt_perception_shared + resolved.run_root: /tmp/belt_perception_runs + resolved.scratch_root: /tmp + resolved.transfer_root: /mnt/data2/magna/belt_perception_transfers + resolved.uv_cache_root: /home/magna/.cache/uv + worktree status: + ## cursor/u08c_d3_lab_b_exec_20261014 + canonical status (/home/magna/belt_perception): + ## main...origin/main + m co-tracker + ? mvtracker + +Preflight passed. Safe to edit in this worktree. + +== Execution Environment == +OK execution environment: local +INFO project_root: /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 +INFO canonical_repo_path: /home/magna/belt_perception +INFO agent_worktree_root: /mnt/data0/magna +INFO data_root: /mnt/data2/magna +INFO shared_root: /mnt/data2/magna/belt_perception_shared +INFO run_root: /tmp/belt_perception_runs +INFO scratch_root: /tmp +INFO transfer_root: /mnt/data2/magna/belt_perception_transfers +INFO uv_cache_root: /home/magna/.cache/uv +INFO peer_ssh_alias: login.betty.parcc.upenn.edu + +== Repository == +INFO repo root: /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 +INFO branch: cursor/u08c_d3_lab_b_exec_20261014 +INFO linked git worktree: yes +OK git status is clean + +== Submodules == +INFO gitlink paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth +INFO .gitmodules paths: 3D-ViTac_Tactile_Hardware, Fast-FoundationStereo, FoundationStereo, co-tracker, models, mvtracker, segment-anything-2, splinebox, task_board_urdf, third_party/MV-TAP, third_party/WAFT-Stereo, third_party/deform360, third_party/newton, third_party/phystwin, third_party/phystwin_original, third_party/proj-QQTT, third_party/tapnet, third_party/zdepth +OK all gitlinks are present in .gitmodules +OK all .gitmodules paths have gitlinks +INFO initialized submodule co-tracker: branch=detached@82e02e8, HEAD=82e02e8029753ad4ef13cf06be7f4fc5facdda4d, dirty=0, origin=https://github.com/facebookresearch/co-tracker.git, expected=https://github.com/facebookresearch/co-tracker.git, remote_match=yes +OK submodule co-tracker: clean detached HEAD (accepted for read-only/pytest validation) +INFO initialized submodule segment-anything-2: branch=detached@969dad5, HEAD=969dad578a42d4c75624f87821497d37aabfbe99, dirty=0, origin=https://github.com/leonmkim/segment-anything-2.git, expected=https://github.com/leonmkim/segment-anything-2.git, remote_match=yes +OK submodule segment-anything-2: clean detached HEAD (accepted for read-only/pytest validation) +INFO initialized submodule splinebox: branch=detached@6edb17e, HEAD=6edb17ef22b40176f66d31c57621105067815a2e, dirty=0, origin=https://github.com/leonmkim/splinebox.git, expected=https://github.com/leonmkim/splinebox.git, remote_match=yes +OK submodule splinebox: clean detached HEAD (accepted for read-only/pytest validation) +INFO initialized submodule third_party/newton: branch=detached@5f4656cd, HEAD=5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0, dirty=0, origin=https://github.com/leonmkim/newton.git, expected=https://github.com/leonmkim/newton.git, remote_match=yes +OK submodule third_party/newton: clean detached HEAD (accepted for read-only/pytest validation) +INFO initialized submodule third_party/phystwin_original: branch=detached@81c7187, HEAD=81c718790a37e5e0102eb77af2c6edd34a9db25f, dirty=0, origin=https://github.com/Jianghanxiao/PhysTwin.git, expected=https://github.com/Jianghanxiao/PhysTwin.git, remote_match=yes +OK submodule third_party/phystwin_original: clean detached HEAD (accepted for read-only/pytest validation) +INFO initialized submodule third_party/zdepth: branch=detached@abc01e7, HEAD=abc01e77ed5a905fbd87c2f011cfcf50653cfbda, dirty=0, origin=https://github.com/catid/Zdepth.git, expected=https://github.com/catid/Zdepth.git, remote_match=yes +OK submodule third_party/zdepth: clean detached HEAD (accepted for read-only/pytest validation) +OK git submodule status --recursive completed + -90d1df57d124b3dd2bcb590e3cae9809a15c9a82 3D-ViTac_Tactile_Hardware + -a23607edae8287bd450df17a5ab54f6daf841550 Fast-FoundationStereo + -f1b1e19966a206034db1d04ae983dd3dcfb720f5 FoundationStereo + 82e02e8029753ad4ef13cf06be7f4fc5facdda4d co-tracker (v1.0-32-g82e02e8) + -ddc16cd85754ea3d3f61dd053de206e34c489101 models + -b6f6430dcdad56d6e61c8cec00323b3452334c86 mvtracker + 969dad578a42d4c75624f87821497d37aabfbe99 segment-anything-2 (remotes/origin/online_main) + 6edb17ef22b40176f66d31c57621105067815a2e splinebox (v0.5.1-99-g6edb17e) + -bbac2ecb74c403c6f759f6a7cddd819150c3afc5 task_board_urdf + -3b300a65a62be88984de7d6297c65f5bc7892aa4 third_party/MV-TAP + -c534320860f4bbb2c0df896e3ccb95de49284aec third_party/WAFT-Stereo + -d8522a4403b766aeb387510c04e89032a56fdf35 third_party/deform360 + 5f4656cd82d34ccdf16f19b5425b3f0181f3b5b0 third_party/newton (v0.2.3-1049-g5f4656cd) + -41aa14f2c554bca7faeef1e807e0651e54a53f7c third_party/phystwin + 81c718790a37e5e0102eb77af2c6edd34a9db25f third_party/phystwin_original (heads/main) + -0648a2bb16f4dcb465039bde485208a173a747cb third_party/proj-QQTT + -454041f7eb110a3eeabf9743cd97f119ed91fb8e third_party/tapnet + abc01e77ed5a905fbd87c2f011cfcf50653cfbda third_party/zdepth (heads/master) +INFO profile minimal required submodules: co-tracker, segment-anything-2, splinebox, third_party/newton +OK submodule initialized: co-tracker +OK submodule initialized: segment-anything-2 +OK submodule initialized: splinebox +OK submodule initialized: third_party/newton + +== Environment == +OK .venv exists +OK .venv resolves inside this checkout +OK uv.lock exists +OK .envrc exists +OK PyZED wheel exists at repo root: pyzed-5.5-cp311-cp311-linux_x86_64.whl +OK PyZED wheel is a symlink -> /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl +OK shared wheelhouse exists: /mnt/data2/magna/belt_perception_shared/wheels +OK shared PyZED wheel exists: /mnt/data2/magna/belt_perception_shared/wheels/pyzed-5.5-cp311-cp311-linux_x86_64.whl + +== Shared Artifact Roots == +INFO recordings: missing shared read-only input root (okay for minimal pure unit tests) +INFO converted_datasets: missing shared read-only input root (okay for minimal pure unit tests) +INFO converted_datasets_repaired: missing shared read-only input root (okay for minimal pure unit tests) +INFO results: missing shared namespaced output root (OK until a task writes outputs) +INFO calibration_results: missing shared namespaced output root (OK until a task writes outputs) + +== Summary == +OK completed with no warnings +........................................................................ [ 74%] +......................... [100%] +97 passed in 97.44s (0:01:37) diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/commands.json b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/commands.json new file mode 100644 index 0000000000000000000000000000000000000000..611fb19c3d4eb998db9aa356b53f0ecf1f0762a0 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/commands.json @@ -0,0 +1,161 @@ +{ + "cma": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "cma", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--device", + "cuda:0", + "--max-generations", + "250", + "--candidate-width", + "2", + "--handoff-policy", + "rt_atomic_single_realization_v1" + ], + "adam": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "fit-adam", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--cma-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--device", + "cuda:0", + "--handoff-policy", + "rt_atomic_single_realization_v1", + "--complete-traversals", + "500", + "--checkpoint-every-updates", + "100", + "--capture-telemetry", + "--projected-log-y" + ], + "evaluator": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "evaluate-pending", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--device", + "cuda:0", + "--retain-all-trajectories", + "--follow", + "--poll-seconds", + "5" + ], + "collector": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "telemetry-collect", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--cma-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--adam-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/telemetry-collector", + "--run-name", + "u08c_d3_lab_b_full_fit_cma250_projadam_01", + "--follow", + "--poll-seconds", + "2" + ], + "select": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "select-best", + "--run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--require-complete" + ], + "collect_final": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "telemetry-collect", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--cma-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--adam-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/telemetry-collector", + "--run-name", + "u08c_d3_lab_b_full_fit_cma250_projadam_01" + ], + "recover_delivery": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "telemetry-collect", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--cma-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--adam-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/telemetry-collector", + "--run-name", + "u08c_d3_lab_b_full_fit_cma250_projadam_01", + "--recover-delivery" + ], + "cma_resume": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "cma", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--device", + "cuda:0", + "--max-generations", + "250", + "--candidate-width", + "2", + "--handoff-policy", + "rt_atomic_single_realization_v1", + "--resume" + ], + "adam_resume": [ + "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "-u", + "scripts/phystwin_real_rgbd.py", + "fit-adam", + "--fitting", + "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision/fitting/fitting_observations.npz", + "--cma-run", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/cma", + "--output", + "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam", + "--device", + "cuda:0", + "--handoff-policy", + "rt_atomic_single_realization_v1", + "--complete-traversals", + "500", + "--checkpoint-every-updates", + "100", + "--capture-telemetry", + "--projected-log-y", + "--resume" + ] +} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/execute_task.py b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/execute_task.py new file mode 100644 index 0000000000000000000000000000000000000000..0c6f62286b91bce7b2047b9d465c652d0088a7a7 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/execute_task.py @@ -0,0 +1,63 @@ +"""U08c D3 task invocation sequence; science stays in the existing CLI owners. + +Launched inside the named tmux server from the execution worktree: + tmux -L u08c_d3_lab_b_track_20261014 new-session -d -s campaign \ + "cd $EXEC && .venv/bin/python $R/tracking/execute_task.py" +Each stage records argv/exit status; a failed stage stops the sequence. +""" +import json +from pathlib import Path +import subprocess +import time + +ROOT = Path(__file__).resolve().parent +TASK = ROOT.parent +CONFIG = json.loads((ROOT / "run_config.json").read_text()) +CWD = Path(CONFIG["cwd"]) +FULL = Path(CONFIG["full_root"]) +PYTHON = CONFIG["python"] +D3N = Path("/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/" + "u08b_inputs_native") +CACHE = D3N / "observation_cache/decoded" +HANDOFF = TASK / "handoff" +CASE_INPUTS = ["--rt-frames", "waft/frames.npz", "--rt-association", "observation_cache/association.npz", + "--rt-appearance", "appearance/train/model/point_cloud/iteration_10000/point_cloud.ply"] + + +def run(stage, argv): + state = dict(stage=stage, status="running", argv=[str(v) for v in argv], started_unix_s=time.time()) + (ROOT / "task_state.json").write_text(json.dumps(state, indent=2)) + with (ROOT / (stage + ".log")).open("a") as log: + result = subprocess.run(state["argv"], cwd=CWD, stdout=log, stderr=subprocess.STDOUT) + state.update(status="complete" if result.returncode == 0 else "failed", exit_status=result.returncode, + finished_unix_s=time.time()) + (ROOT / (stage + "_state.json")).write_text(json.dumps(state, indent=2)) + (ROOT / "task_state.json").write_text(json.dumps(state, indent=2)) + if result.returncode: + raise SystemExit(result.returncode) + + +if not (FULL / "adam/best.json").exists(): + mode = "resume" if (FULL / "attempts").exists() else "start" + run("tracking", [FULL / "launch_rt5.sh", mode]) +attempt = json.loads(sorted((FULL / "attempts").glob("*.json"))[-1].read_text()) +assert attempt["status"] == "science_complete", attempt["status"] +assert attempt["evaluation"]["completed"] == 501, attempt["evaluation"] +HANDOFF.mkdir(exist_ok=True) +if not (HANDOFF / "best_inputs/contract.json").exists(): + run("best_inputs", [PYTHON, "scripts/real_rgbd_photometric_inputs.py", "--result-root", D3N, + "--rt-fit-run", FULL, "--rt-binding", HANDOFF / "scan/canonical_binding.npz", + "--rt-baseline", HANDOFF / "tracking_best_p0", *CASE_INPUTS, + "--observation-cache", CACHE, "--out", HANDOFF / "best_inputs"]) +if not (HANDOFF / "scan/contract.json").exists(): + run("scan", [PYTHON, "-u", "scripts/real_rgbd_tracking_photometric_scan.py", "--result-root", D3N, + "--rt-contract", HANDOFF / "best_inputs/contract.json", "--observations", "cache", + "--observation-cache", CACHE, "--device", "cuda:0", "--out", HANDOFF / "scan"]) +run("binding_review", [PYTHON, "scripts/diagnostics/real_rgbd_rp4_binding.py", "--rt-fit-run", FULL, + "--rt-contract", HANDOFF / "scan/contract.json", "--rp3-run", D3N / "appearance/train", + "--device", "cuda:0", "--out", HANDOFF / "reference_binding"]) +run("appearance_review", [PYTHON, "scripts/real_rgbd_render_baseline.py", "--result-root", D3N, + "--rt-contract", HANDOFF / "scan/contract.json", "--out", HANDOFF / "scan/selected_parent_p0", + "--device", "cuda:0", "--review"]) +(ROOT / "task_state.json").write_text(json.dumps(dict(stage="handoff", status="complete", + finished_unix_s=time.time()), indent=2)) diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/input_check.json b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/input_check.json new file mode 100644 index 0000000000000000000000000000000000000000..8462326fcc3de18806d86c9f5909ec5b10cf4737 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/evidence/u08c_d3_lab_b_fit_20261014/tracking/input_check.json @@ -0,0 +1,534 @@ +{ + "revision": "8c03605eb6af291b7face39f6474d84aa513f332", + "input_root": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision", + "input_hashes": { + "fitting/fitting_observations.npz": "191a4c2f4c102e2f23d977ac00c078ead98d81e19788d31f3015c595bf1bb6e7", + "fitting/model_init.npz": "c2999528c91b7d33058c82c605c7e5171b2b8ca18de0f2c7de45ae22624b9ea8", + "inputs/binding.json": 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"int64", + "sha256": "76317253ccc223f96506dc5139c60a2fe2f4009e2921ff3353fdc50321030e76" + }, + "target_initialization": { + "shape": [ + 1375 + ], + "dtype": "&2; exit 2 ;; esac +cd /mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014 +full_root=/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01 +export CUDA_VISIBLE_DEVICES=0 +mkdir -p "$full_root/logs" +# On a GPU exception the driver writes a small CUDA core dump (faulting kernel/PC) and then +# aborts the child, so the Python error record is not written; resume re-runs missing asks. +# No host core dump. Exit-time faults have not produced dumps (Xid 31 investigation note). +export CUDA_ENABLE_COREDUMP_ON_EXCEPTION=1 CUDA_ENABLE_CPU_COREDUMP_ON_EXCEPTION=0 +export CUDA_COREDUMP_GENERATION_FLAGS=skip_global_memory,skip_shared_memory,skip_local_memory +export CUDA_COREDUMP_FILE="$full_root/logs/cuda_core_%p_%t.nvcudmp" +exec uv run --no-sync python -u scripts/run_rt5_campaign.py "$mode" \ + --config "$full_root/campaign.json" \ + >> "$full_root/logs/supervisor-$mode-$(date -u +%Y%m%dT%H%M%S)-$$.log" 2>&1 diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-adam-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-adam-1.log new file mode 100644 index 0000000000000000000000000000000000000000..b7c9a5756dde01fb61d5ee68f0fe9ffad97e70e1 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-adam-1.log @@ -0,0 +1,15 @@ +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.79 ms (cached) +Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.31 ms (cached) +Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.83 ms (cached) +Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.40 ms (cached) +Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.27 ms (cached) +Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.54 ms (cached) +Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 0.72 ms (cached) +156500/156500 updates: 500 complete traversals + 0 intervals; 501 snapshots, 500 scored, 1 pending evaluation diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-cma-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-cma-1.log new file mode 100644 index 0000000000000000000000000000000000000000..eb378de0037cc4833c45e0e85156a1edacda483d --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-cma-1.log @@ -0,0 +1,17 @@ +(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:06:35 2026) +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 8.09 ms (cached) +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.28 ms (cached) +Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 0.27 ms (cached) +Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 0.28 ms (cached) +Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 0.24 ms (cached) +Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 0.24 ms (cached) +Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 0.27 ms (cached) +(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:06:39 2026) +winner: max_generations after 250 generations, 2750 asks told (0 physical +inf); winner score 0.0006311099267581079; handoff {'passed': False, 'report': 'handoff/report.json', 'frozen_observation_score': 0.000400841153405693, 'acceptance': {'policy': 'rt_atomic_single_realization_v1', 'owner_basis': 'RT-D10 owner decision 2026-09-29; phystwin_real_rgbd_waft_tapnextpp_refit_plan §7.4', 'accepted': True}, 'numerical_status': 'finite_independent_realization_disagreement'} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-collect_final-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-collect_final-1.log new file mode 100644 index 0000000000000000000000000000000000000000..87a109151db24eb3fe7934bb7640ca3c9ccde7e8 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-collect_final-1.log @@ -0,0 +1 @@ +Retained 1 new REAL_RGBD records in /mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/telemetry-collector/telemetry diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-collector-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-collector-1.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-evaluator-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-evaluator-1.log new file mode 100644 index 0000000000000000000000000000000000000000..1a758cd04fa07fe6392810f2f3a458be068f0432 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-evaluator-1.log @@ -0,0 +1,15 @@ +Warp 1.16.0 initialized: + CUDA Toolkit 12.9, Driver 13.0 + Devices: + "cpu" : "x86_64" + "cuda:0" : "NVIDIA GeForce RTX 4090" (23 GiB, sm_89, mempool enabled) + Kernel cache: + /home/magna/.cache/warp/1.16.0 +Module belt_perception.physics.mass_spring.tracked3d_loss d4be3d8 load on device 'cuda:0' took 1.39 ms (cached) +Module _stage_controller_blend_2f9d1332 2f9d133 load on device 'cuda:0' took 0.30 ms (cached) +Module eval_springs_atomic_source_log_y_3610d0b6 3610d0b load on device 'cuda:0' took 2.08 ms (cached) +Module eval_controller_springs_atomic_source_log_y_controller_velocity_c8540c0b c8540c0 load on device 'cuda:0' took 1.97 ms (cached) +Module _add_vec3_ecf7d264 ecf7d26 load on device 'cuda:0' took 2.17 ms (cached) +Module update_velocity_source_force_gravity_drag_a261c9e4 a261c9e load on device 'cuda:0' took 2.08 ms (cached) +Module integrate_source_ground_masked_raw_parameters_1c2f784d 1c2f784 load on device 'cuda:0' took 2.00 ms (cached) +evaluated 500 candidates; 501/501 produced scored, pending [], unresolved errors [] diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-select-1.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-select-1.log new file mode 100644 index 0000000000000000000000000000000000000000..e4c44bb6c7b1a6b2855cb429bfafe6323adc9984 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/attempt-001-select-1.log @@ -0,0 +1,19 @@ +{ + "status": "final", + "best_candidate": 499, + "best": { + "candidate": 499, + "traversal": 499, + "updates": 156187, + "score": 0.0001826317177484959, + "model": "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam/snapshots/c0499/model", + "rollout": "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01/adam/evaluations/c0499/rollout.npz", + "trajectory_retained": true, + "tied_candidates": [ + 499 + ] + }, + "completed_candidates": 501, + "expected_candidates": 501, + "missing_candidates": [] +} diff --git a/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/supervisor-start-20261015T000627-2997350.log b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/supervisor-start-20261015T000627-2997350.log new file mode 100644 index 0000000000000000000000000000000000000000..ad34e1d988a50604c008bc1f09ccefd5d87f5a85 --- /dev/null +++ b/sessions/session_20260921_230724_040591/runs/lab-b-tracking/native/logs/supervisor-start-20261015T000627-2997350.log @@ -0,0 +1,780 @@ +(5_w,11)-aCMA-ES (mu_w=3.4,w_1=42%) in dimension 12 (seed=42, Wed Oct 14 20:06:29 2026) +{ + "mode": "start", + "config": { + "cwd": "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014", + "revision": "8c03605eb6af291b7face39f6474d84aa513f332", + "python": "/mnt/data0/magna/belt_perception_wt_u08c_d3_lab_b_exec_20261014/.venv/bin/python", + "lock_sha256": "673786110b5b79a5a6ecc5e6bf35d11413a342229be69cd028e7ce8bf1841a02", + "input_root": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_230724_040591/u08b_inputs_native/supervision", + "full_root": "/mnt/data0/magna/belt_perception_runs/U08c_D3_lab_b_fit_20261014/tracking/full_fit_cma250_projadam_01", + "device": "cuda:0", + "eval_device": "cuda:0", + "device_identities": { + "cuda:0": { + "name": "NVIDIA GeForce RTX 4090", + "uuid": "30be4c6b-0cc3-a19f-14c8-b53e90ace6dc", + "total_memory": 25215303680 + } + }, + "cuda_visible_devices": "0", + "concurrent_evaluator": true, + "candidate_width": 2, + "candidate_width_check": "/mnt/data2/magna/belt_perception/results/rt5_runner_preparation_20261001/rt_accel_integrate_20261002/bounded_checks.json", + "tracking_coexistence_check": "/mnt/data2/magna/belt_perception/results/rt5_runner_preparation_20261001/rt_accel_integrate_20261002/bounded_checks.json", + "execution_owner": "Claude U08c D3 lab B owner (unified plan \u00a78.8.19); owner authorized all compute, local site", + "cp2r_revision": "426a482897e87394e5d9362e4aec71e759945c2a", + "cp2r_audit": "docs/experiments/phystwin_cma_candidate_parallelism_cp2r_audit_20261001.md", + "runner_audit": "Existing runner/RT-D12/RT-D14 reviews retained; this task adds the reviewed lab_b_u08b_native input pin (K=313) and the generic track-report lineage read at 8c03605eb6af291b7face39f6474d84aa513f332; focused tests in setup/; independent U08c audit (\u00a78.8.20) remains later", + "service_preflight": "", + "tmux_server": "u08c_d3_lab_b_track_20261014", + "tmux_session": "campaign", + "run_name": "u08c_d3_lab_b_full_fit_cma250_projadam_01", + "tracking_input": "lab_b_u08b_native", + "cma_max_generations": 250, + "projected_log_y": true, + "retain_all_trajectories": true, + "telemetry_online": false + }, + "candidate_scheduling": { + "mode": "resident_waves", + "configured_max_width": 2, + "render_width": null, + "packing": "none", + "launch": "one host thread; value-only enqueue before readbacks; 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